Analysis and design of the dynamic characteristics and ride comfort of a 2-DOF parallel wheelset suspension for a multi-wheeled pressurized lunar rover

The multi-wheeled pressurized lunar rover (MWPLR) is an essential vehicle for future long-term operations on the moon. When the MWPLR travels on a rugged lunar surface , if equipped with a bogie suspension (BS) or double-wishbone suspension (DWS), it will have difficulty withstanding heavy loads, absorbing shocks, or ensuring the passive adaptation of multiple wheels to the lunar surface . To solve the problem above of the unsuitability of the suspension for the MWPLR, we have proposed a new two-degree-of-freedom (2-DOF) passive parallel wheel suspension (PWS). Comparative analysis of the dynamic characteristics of the PWS, BS, and DWS has been carried out, and the ride comfort of the PWS has been analyzed and designed. First, the conversion relationship between the actual and equivalent PWS is obtained using the virtual work principle. Second, dynamic models of three equivalent suspensions were constructed using Lagrange equations . Then, the simulation proved the dynamic models' correctness; the ride comfort performances in the time and frequency domain of the three equivalent suspensions were compared, explaining the phenomenon of PWS's wheelbase filtering. Subsequently, the PWS's ride comfort parameters were analyzed and optimized. Finally, the comparative simulation and scale-down prototype experiment prove that introducing 2-DOF and damping elements enhances the MWPLR's ride comfort. • A dynamic model of the novel suspension is proposed, and its correctness is verified. • Wheelbase filtering and damping are achieved by introducing passive 2-DOFs. • A compromise optimization method is proposed to optimize the dynamic characteristics of the suspension. • The novel suspension combines the advantages of the traditional passive lunar suspension.