为使月球车具有更好的自主导航能力,完成崎岖地形路径规划和崎岖地形可通过性仿真测试,必须建立相应的运动学模型.针对提出的新型八轮移动子系统构型月球车和地形特征,利用不同的坐标系定义和建模方法建立了八轮月球车的3种不同运动学模型:关节机器人D-H坐标建模方法运动模型、平面几何运动学关系和三维几何运动学关系运动学模型.在此基础上对建立的3种运动学模型进行分析对比,提出了3种运动学模型的适用条件和范围.最后指出构建的运动学方程可以作为月球车多轮协调运动控制模型和月球车仿真环境中运动关系的求解器模型. In order to make the lunar rover have better autonomous navigation ability and complete the rugged terrain path planning and the rugged terrain can pass the sexual simulation test, a corresponding kinematic model must be established.In view of the proposed new eight-wheel mobile substructure rover and topographical features , Three different kinematics models of eight-wheeled lunar rover were established using different coordinate system definition and modeling methods: kinematic model of DH robot’s coordinate modeling method, kinematics model of plane geometry and kinematics model of three-dimensional geometric kinematics. On this basis, the three kinds of kinematics models established are analyzed and compared, and the applicable conditions and scope of the three kinds of kinematics models are put forward.Finally, the kinematic equation constructed can be used as the lunar rover coordinated motion control model and lunar rover simulation Solver Model of the Motion Relationship in Environment.