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PROANDCONQUADRANGLESUSPENSIONFORKLUNARSPERFORMANCEANALYSISANDSIMULATIONWANGQIAOLINGJILINTONGHUATEACHERS’UNIVERSITYTONGHUA,CHINA;THWQL163COMCƒGUANRONGQIANGCHINAUNIVERSITYOFMININGANDTECHNOLOGY,XUZHOU,CHINA;JILINTEACHERS’INSTITUTEOFTECHNOLOGYANDENGINEERING,CHANGCHUN,CHINA;GUANRONGQIANG1983163COMGUDONGDONGJILINTEACHERS’INSTITUTEOFTECHNOLOGYANDENGINEERING,CHANGCHUN,CHINA;GOOMLE1991163COMABSTRACTITISWELLKNOWNMOONSSURFACEISDIFFERENTWITHEARTHSSURFACE,ISOPPOSITEINEARTHSENVIRONMENT,MOONSENVIRONMENTISQUITEBAD,THESURFACEISUNEVENWALKEDFORTHELUNARHASBROUGHTINCONVENIENTLYBASEDONTHISKINDOFSITUATION,WESTUDYTHENEWSTEADYLINEOFPROANDCONQUADRANGLESUSPENSIONFORKLUNARSDESIGN,BASEDONTHISIDEA,THISARTICLEHASCARRIEDONTHEANALYSISTOLUNARSPROANDCONFOURDISTORTIONSUSPENSIONFORK,INVIEWOFTHEQUADRANGLEANDTHECOUNTERQUADRANGLESGOODANDBADPOINTSPROPOSEDTHATTHEPROANDCONQUADRANGLESUSPENSIONFORK,ANDCARRIESONTHESIMULATIONTOITSPERFORMANCEENABLESITSBETTERACHIEVINGTOWALKTHESAMPLEGOALONTHEMOONKEYWORDSLUNARPROANDCON;QUADRANGLE;SIMULATION;ADAMSIINTRODUCTIONCOMPLETEDALONGWITHTHECHANGEFIRSTPHASESVICTORYWITHSECONDPHASESTART1,OURCOUNTRYHASSTARTEDAROUNDNEWHIGHTIDEOFLUNARPROBINGHOWTOCARRIEDONTHESURVEYFALLTHEMONTHLATER,HOWCARRIESONTHEDESIGN,THELUNARTOTHESCIENCESURVEYCARRIERLUNARSSTRUCTUREANDTHEPERFORMANCEHOWTOSURVIVEONTHEMOON,HASBECOMETHENEWDIFFICULTPROBLEMWHICHTHESCIENTIFICRESEARCHERSWANTEDTOSOLVETHELUNARRESULTEDINTHERESEARCHALREADYTOHAVETHEVERYPROFOUNDHISTORY,WHATPUTINTOTHERESEARCHFIRSTTOTHELUNARWASTHEFORMERSOVIETUNIONANDAMERICANWTHUNTRESS,ETAL2003;BKMUIRHEAD,ETAL2004;CHARLESRWEISBIN,ETAL1997;MARKWILLISAMSON,ETSL2002;BRAINHARVEY,ETAL2007;ALKEMURDAJIAN,19982,ANDWILLDEVELOPSUCCESSIVELYTHELUNARDELIVERSMOON3,4,WITHOVERSEASCOMPARESTHEDOMESTICLUNARRESEARCHTOBEQUITELATE,WASSTILLATTHESTARTTHECONDITIONATPRESENTDOMESTICHASTHEHARBININDUSTRYUNIVERSITY,SHANGHAIJIAOTONGUNIVERSITY,THECHINESESCIENCEANDTECHNOLOGYTECHNOLOGYUNIVERSITYTOLUNARSKEYTECHNOLOGIESANDTHEPROTOTYPICALRESEARCHSSCHOOLTHEYNOTONLYMANUFACTUREDTHELUNARWHICHANDTHEFOREIGNCOUNTRYWASSIMILARALSOTOINNOVATEADVANCEDEACHKINDOFNEWTHEORYTHISARTICLEISCOMPLEXINVIEWONTHISKINDOFQUESTIONASWELLASMOONSSPECIALENVIRONMENTROADSURFACE,ISDISTRIBUTINGTHESIZESHAPEANOMALOUSSTONE,THECRATERANDTHEPITCH;MONTHSOILGRANULARITYSIZENOTSTANDARD,LOOSEDIVERGENCEINCONSISTENTANDSOONQUESTION5CARRIESONTHECONCRETEDESIGNTOLUNARSBODYSTRUCTUREDEVELOPSNEWBASEDONTHEPROANDCONQUADRANGLESUSPENSIONFORKLIKESIXLUNARWHEELEDVEHICLESIILUNARSSYSTEMDESIGNTHISARTICLEELABORATESWHATTHELUNARUSESISMAINLYUSESTHEPROANDCONQUADRANGLESUSPENSIONFORKTOCARRYONTHEDESIGNTHISLUNARALTOGETHERHASSIXWHEELS,THE23DISTRIBUTIONINNEARBYLOADPLATFORMTWOINCARRIESONTHESHUTTLEREGARDINGTHEBARRIERSMALLSITUATIONTOTHEBARRIER,TOLARGESCALEISUNABLETHESHUTTLEBARRIERTOCARRYONDETOURSFIGURE1ISTHEPROANDCONQUADRANGLESUSPENSIONFORKLUNARVEHICLELABORATORYMODEL,MAYVERYEASYSEEONFIGURE1THEPROANDCONQUADRANGLESUSPENSIONFORKTHEDESIGNMODEL,THEWHEELANDTHELOADPLATFORMPLACETHEPOSITIONFIGURE1PROANDCONQUADRANGLESUSPENSIONFORKLUNARVEHICLEMODEL60449781424481651/11/26002011IEEEIIIPROANDCONQUADRANGLESUSPENSIONFORKSSTATEMENTANDDESIGNSBECAUSETHEROCKINGSHAFTTYPESUSPENSIONFORKMARSROVERALREADYANDHASCONFIRMEDITSFEASIBILITYAFTERMARSTESTTHEREFORETHISARTICLEDESIGNSTHELUNARASWILLUSEFORREFERENCETAKETHISKINDOFMARSROVER,ACCORDINGTOLUNARMARSDIFFERENTLYITSIMPROVEMENTAALIGNMENTQUADRANGLECOUNTERQUADRANGLEANALYSISROCKY7ISTHEMARSROVERSOJOURNERIMPROVEMENTVEHICLE,ITSBOGIETURNEDASTRAIGHTPOLEBYTHEORIGINALBULGESCURVEDPOLE,CHANGEDINTHESOJOURNERMOVEMENTINCERTAINDEGREETHEBOGIESTABILITYNOTHIGHQUESTIONBUTALSOREDUCEDTHEBOGIEGROUNDCLEARANCEINTHECHANGEPROCESS,ISTHEBOGIEISVERYEASYWITHTHEBARRIERCONTACTWHICHMUSTCROSS,JACKEDTHESUSPENSIONFORK,ISUNABLETOSURMOUNTTHEBARRIERIFTHEREDUCTIONBOGIESSTRAIGHTPOLELENGTH,MAYENHANCETHEBOGIETHEGEOMETRYTOPASSTHENATURE,BUTLIKETHISWILLREDUCETHEBOGIETHESTABILITYFROMTHISMAYSEE,THEBOGIESTABILITYANDTHEGEOMETRYPASSTHENATURETORESTRICTMUTUALLY,BASEDONTHISKINDOFSITUATION,ACCORDINGTOTHEKINEMATICSANDMECHANISMPRINCIPLE,THISARTICLEPROPOSEDONEKINDEQUATESINROCKY7ANDTHESOJOURNERINCLINEANDTHECURVINGBOGIEORGANIZATIONQUADRANGLESUSPENSIONFORKFIGURE2,CHART3RESPECTIVELYISTHEINCLINEDCURVINGBOGIEMODELANDTHEQUADRANGLEORGANIZATIONPARAMETRICMODELFIGURE2INCLINESTHECURVINGBOGIEMODELFIGURE3QUADRANGLESHAPEORGANIZATIONPARAMETRICMODELTHISQUADRANGLEORGANIZATIONISCOMPOSEDOFTHREEMEMBERS,ALTOGETHERHAS4HINGEPOINTS,TWOFORKSHAPEDMARKSHINGECONTACTSARETHEPICKUPPOINTSINSTALLSTHEMETHODWITHTHEBOGIETOINSTALLENABLESTHECORRESPONDINGMEMBERATOTHERPARTSTOCIRCLETHEPICKUPPOINTTOREVOLVEFREELYWHENQUADRANGLESUSPENSIONFORKLIKECHART4PARALLELLAYINGASIDE,ITSMEMBERANDTHECORRESPONDINGBOGIEMEMBERSLENGTHANDTHEANGLEOFTILTAREEQUAL,TWOKINDOFORGANIZATIONSHAVETHESAMELEVELPATHANDTHESTRESSFULCONDITION,THEREFORE,THEQUADRANGLESUSPENSIONFORKCANDEFINITELYREPLACETHEINCLINEDCURVINGBOGIE,ANDHASTHEINCLINEDCURVINGBOGIEFINEPERFORMANCETHEROCKINGSHAFTISTHEROCKINGSHAFTBOGIEANOTHERBUILDINGBLOCK,TOSHARPENTHEMAINROCKINGSHAFTSOBSTACLECROSSINGABILITY,WEPROPOSEDONEKINDOFROCKINGSHAFTSEVOLVEDORGANIZATIONCOUNTERQUADRANGLEOR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