DOI: 10.1109/itcs.2010.36
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Abstract: Based on the motion characteristics of doublehalf-revolution mechanism, a new-style wheel-legged lunar rover was proposed. In order to evaluate its maneuvering performance, the performance experiment of single wheellegged mechanism is needed. To simulate the loading conditions of single wheel-legged mechanism when the lunar rover is walking in flat ground, climbing up a slope or walking sideways in a slope, this paper analyzed their statics under the above three conditions, and set up their force models respe…

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