Abstract
Mobile robots are expected to traverse on unstructured terrain, especially uneven terrain, or to climb obstacles or slopes. This paper analyzes one such passively–actively transformable mobile robot that is principally aimed at the above issue. A passive locomotion traverses on a rough and flat terrain; an active reconfiguration with an active suspension. This paper investigates the lateral stability of this mobile robot when it reconfigures itself to adjust its roll angle with the active suspension. The principles and configurations of the robot and its active suspension are presented. To analyze the effects of the suspensions’ inputs on robot stability, a mathematic model of the robot on side slopes is presented. Based on the evaluation method of the stability pyramid theory, an analytical expression representing the relationship between the input of the active suspension (linear actuator length) and stability evaluation index on transverse slopes is obtained. The results show that there is an increase in both the lateral stability and minimum lateral tip-over angle under different ground clearances when adjusting the active inputs. Furthermore, the models presented here provide theoretical references and optimization directions for the design and control of mobile robots with adjustable suspensions.
Highlights
Mobile robots are widely used for diverse applications, such as terrestrial and planetary exploration, forestry, agriculture, mining industries, and reconnaissance [1,2]
We presented a mathematical model of a mobile robot using a novel active adjustable suspension system on side slopes
We presented a mathematical of a can mobile robot using novel active adjustable suspension
Summary
Mobile robots are widely used for diverse applications, such as terrestrial and planetary exploration, forestry, agriculture, mining industries, and reconnaissance [1,2]. They are normally used to enter unstructured, severe, and hostile environments while equipped with various tools [3]. In these scenarios, mobile robots must conduct high-performance locomotion tasks while ensuring system safety. Mobile robots must conduct high-performance locomotion tasks while ensuring system safety Such tasks can result in a loss of wheel traction, entrapment, loss of stability, and tip over. Enhancing the locomotion performance in such an environment requires the design of innovative locomotion systems
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