This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible,...

Hunting; Rail wheelset; Hopf bifurcation; Discontinuous nonlinearity; Routh–Hurwitz criterion; Equivalent function; Analytical approach. Abstract This paper presents an investigation on bifurcation of railway bogie behavior in the presence of nonlinearities which are yaw damping forces in longitudinal suspension system and the friction creepage model of thewheel/rail contact including clearance...

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 capa...

En la presente investigación se diseña y valida una geometría de suspensión tipo Rocker-Bogie basados en el análisis grados libertad para su futura implementación dentro del sector industria exploración espacial. Ello tiene como finalidad principal recolección, transporte basura desperdicios a sectores estratégicos las instalaciones, sorteando obstáculos diferente nivel, aunque también podría a...

4. Leg piece?Length to measurement from middle of popliteal space to 1 in. beyond heel. Breadth, 5 ins. at knee sloping to 4J ins. at foot end. 5. Foot piece?9 ins. by 4A i?s. This is fixed to leg piece by two 1-inch mortise and tenon joints. It is also nailed to the extension piece. 6. Extension piece?18 ins. by 6 ins. sloping to 5 ins at the top. A pulley (an empty thread reel on a stout nail...