In order to improve the kinematic reconfigurability of the lunar rover in 3D rough environment, kinematic equations were derived from the wheel Yakeby matrix using the virtual prototype technology for the 6 wheels of the lunar rover.

• 为增强月球探测机器人在三维崎岖环境下运动的动态调整能力,采用虚拟样机技术从车轮雅可比矩阵导出了月球车6个车轮的运动学方程。