Abstract: This paper analyses the motion of an articulated lunar Rover with a torsion bar and two rocker-bogies and force acting to wheels, and presents five operation patterns of motion of the rover’ wheel . The free-running operation pattern is perfect, and the power dissipation between mechanisms is minimum. The different mode of the motor has an influence on the stability of motion in various terrains. We analyze the motion of the lunar rover for the three simple-driving modes of the motor in the plane terrain and in the uneven terrain using operation patterns of the wheel. According to the mechanical configuration of the rover, operation pattern of the wheel, and principle of speed matching of wheels, we present a control algorithm which can fit various uneven terrains and merge it into the whole locomotion control system. Finally, the experiments in the outdoor prove that the control method is right and that the control system is stable.

Key words: lunar rover, motor driving, control method, motion cotrol