2004 Volume 47 Issue 2 Pages 646-652
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.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering