Theoretical study on a modified rocker-bogie suspension for robotic rovers

Abstract Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this has also shifted to different types of terrestrial applications such as in agriculture, military, and rescue fields. The can be designed so that, when rover is flat horizontal ground, weight evenly distributed among wheels; way, all wheels same traction capability offer rolling resistance. As operating conditions vary due sloping uneven ground surface, or payload position, distribution undergo considerable variations. This type statically determined respect weight, but it indeterminate forces; control system aims avoid slippage. In paper, contribution that each wheel provide, overcome a step obstacle, shown. Furthermore, possibility regulating vertical loads adopting torsion spring, adjustable preload, arranged between rocker bogie, evaluated. A suitable spring preload facilitates initial phase obstacle overcoming if advances bogie forward. Numerical simulations show increase an sufficient for reduce load front wheel; any case, higher variation would not advisable could involves excessive difference wheels.