Stability of a new mars rover with multi-stage bogie mechanism

摘要

A rough terrain adaptive rover using a novel suspension system with extremely high mobility is described. By using a multi stage type of a well-known bogie system, a rover gains a high level of adaptability to rough terrain. A novel method to model the rover path which doesn't require any surface modeling tool of rough terrain is represented. Two tilting angles - measured about both longitudinal and lateral axes of the rover body - are taken into consideration as stability criteria. Through the computer simulation, the kinematics model of the mobile robot moving on a randomly generated rough terrain is verified.