Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

In this study, the new mobile robot with N parallel axles were designed and developed as well its motion equations derived. It uses several axes, which, at different surface conditions, increase mobility compared to similar ones. The number of axes in such robotic systems makes studies effect slip mandatory due wheels contact area. These effects make a difference kinematic constraints equations. platform requires suspension system for reducing oscillations floor. Finally, dynamics model obtains by considering slips, suspension, using Lagrange concluded is simulated two-axis four-wheels surfaces conditions. can be seen that deviation eminent besides wheel's slips affect performance based on floor Consequently, ice less than loose gravel, while mentioned gravel being twice. This used space exploration, rescue neutralizing efficiency accuracy.