Optimization of structural parameters of Mars rover with six-wheel active suspension based on NSGA-II algorithm

The complex terrain on Mars makes it difficult for the Mars rover to move around. To improve the ZhurongMars rover's obstacle-crossing performance, a structural parameter optimisation method based on the NSGA-II algorithm for six-wheel active suspension has been developed, building on existing six-wheel active suspension Mars rovers. Kinematic modelling of the active suspension was carried out, with the objective functions being the maximum barrier-crossing height, minimum motor energy consumption during barrier crossing and minimum torque of the angle adjustment mechanism in the lifting wheel operating mode. The length of the rocker arm and the location of the articulation point were optimised to enhance the Mars rover's ability to traverse complex terrain. The optimisation results were simulated and validated using MATLAB to ensure the accuracy of the quasi-static mechanical model and verify the correctness of the optimisation results.