Mobile Mechanism Suitable for Rough Terrain Vehicle

摘要

We propose an interconnected suspension mechanism that is applicable to rough terrain mobile robots for construction sites. All wheels can follow on uneven ground by moving mutually with an interconnected suspension mechanism. And, it is possible to control the posture of the robot simply 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 for moving on an uneven floor and posture control through experiments with an experimental rough terrain moving robot.