This paper presents an innovative suspension system with variable wheel camber to improve mobility of robots on rough-terrain. The system is optimized for planetary rovers that employ conventional rocker-type suspensions. The main advantage of the proposed system is that each wheel keeps an upright posture as the suspension system adapts to terrain unevenness, maximizing tractive and climbing performance, and reducing energy consumption. The synthesis of the variable camber mechanism is described along with details of the mechanical design, showing the feasibility of this solution
An adaptive suspension system for planetary rovers / Reina, G.; Foglia, Mario. - 7:(2010), pp. 199-204. (Intervento presentato al convegno 7th IFAC Symposium on Intelligent Autonomous Vehicles, IAV 2010 tenutosi a Lecce, Italy nel September 6-8, 2010).
An adaptive suspension system for planetary rovers
Reina, G.;FOGLIA, Mario
2010-01-01
Abstract
This paper presents an innovative suspension system with variable wheel camber to improve mobility of robots on rough-terrain. The system is optimized for planetary rovers that employ conventional rocker-type suspensions. The main advantage of the proposed system is that each wheel keeps an upright posture as the suspension system adapts to terrain unevenness, maximizing tractive and climbing performance, and reducing energy consumption. The synthesis of the variable camber mechanism is described along with details of the mechanical design, showing the feasibility of this solutionI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
