Mobile Mechanism Suitable for Rough Terrain Vehicle.

Abstract

We propose an interconnected suspension mechanism applicable to rough terrain mobile robots for construction site and such. All wheels can follow on uneven ground by moving mutually with the interconnected suspension mechanism. And it is possible to control simply the posture of robot using the mechanism. In this paper, the structural and mechanical characteristics of the mechanism are discussed and the ground contact loads of wheels are analyzed. It was confirmed the mechanism has enough ability at moving on uneven floor and posture control by experiments with an experimental rough terrain moving robot.