Research on the step-climbing performance of a multi-constraint quadrilateral suspension rover based on the λ chain mechanism

  • Fei Yang
  • Shang Chen
  • Gang Wang
  • Honghao YueEmail author
  • Miao Wu
  • Yifan Lu
Technical Paper


Step-climbing performance is an important index when evaluating the comprehensive performance of a planetary rover. Based on a comprehensive analysis of the existing planetary rover, the step-climbing performance was determined with regard to the suspension configuration of the rover. On the basis of the configuration of the parallel frame spring fork suspension, a multi-constraint quadrilateral suspension (MCQS) that is based on the λ (lambda) chain mechanism was proposed. The trajectory model of the end point of the λ linear mechanism was established, along with a mathematical model of the interaction between each wheel and step in the step-climbing process. A simulation model of the MCQS rover was constructed, and the step-climbing performance of the MCQS rover on a vertical obstacle was analyzed. The simulation results showed that the MCQS rover can climb over a step obstacle with a height larger than twice the wheel radius, and that it had superior integrated mobility. A prototype was developed based on the design and simulation, and some step-climbing experiments were performed to verify the performance of the MCQS rover.


Rover Suspension Multi-constraint quadrilateral λ Chain mechanism 



This work was financially supported by the National Natural Science Foundation of China (No. 51575123), the 863-704 project (No. 2015AA2256), and the Fundamental Research Funds for the Central University (Grant No. HIT. NSRIF. 2017028).

Compliance with ethical standards

Conflict of interest

The authors declare that there is no conflict of interest.


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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2019

Authors and Affiliations

  1. 1.School of Mechatronics EngineeringHarbin Institute of TechnologyHarbinChina
  2. 2.China Academy of Launch Vehicle Technology Research and Development CenterBeijingChina

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