Abstract: Planet exploration rover is indispensable in the human’s exploration mission. A 2-dimensional inclination platform is needed to imitate the rough terrain in order to have the experiment of the rough terrain of the rover in the laboratory on the earth. The platform has the characteristics of kinematics decoupling when rotating by 2 different axes if using the slider crank mechanism to drive both sides. Thus application of decoupling-compensation hinges can solve it. The theoretical derivation of this mechanism is discussed, and verified by simulation. 2-DOF inclination without kinematics interference of the platform is realized, and built the foundation of the planet exploration experiment on the rough terrain.

Key words: 2-DOF inclination, Imitation device, Lunar roving vehicle, Rough terrain