The Study between Passive Self-Adaptability and DOF of the Rover
For getting good passive self-adaptability, the model for single wheel system contacting with the terrain is established, and the degree of freedom (DOF) needed is studied when the system has good passive self-adaptability; further more, the model of one sided wheel-suspension is set up, and the DOF is obtained by analyzing with corresponding proof is given; several relative features of some common passive self-adaptive rovers are concluded, and these information testifies the universalism of this paper’s conclusions.
F. Yang et al., "The Study between Passive Self-Adaptability and DOF of the Rover", Advanced Materials Research, Vols. 217-218, pp. 614-618, 2011