Lunar Exploration Robot Mobility and Stability: A Comprehensive Analysis and Simulation Study

This paper conducts an in-depth study on the mobility and stability of lunar exploration robots in the complex lunar environment. By defining the robot's primary geometric parameters and two typical motion configurations, the paper analyzes the distribution of wheel loads, mobility performance, and stability performance. Specifically, considering the characteristics of the soft lunar soil, a contact dynamics model between the wheels and the soft lunar soil is established. The discrete element method (DEM) was used to simulate the lunar soil surface, and multi-body dynamics and DEM coupled simulation experiments were conducted. The experimental results indicate that the robot's mobility and stability are significantly affected by the height of the center of mass and ground clearance. The analysis of traction torque, sinkage, and slip ratio further verifies the accuracy and practicality of the model. This research provides theoretical foundations and technical support for the design and operation of lunar exploration robots.