Key Takeaways & Executive Findings
- •• A double-wishbone vibration reduction suspension and a moment compensator were designed to enhance the road adaptability and traversal abilities of a four-wheel differential-speed mobile robot. • Theoretical modeling of suspension-wheel-road dynamics and mathematical characterization of road adaptability under dynamic excitation were validated through co-simulation and outdoor experiments. • The proposed mechanisms effectively reduce vibration and prevent joint driving output stall, improving driving compatibility across various terrains. • The study provides a practical solution for enhancing the field operability of multi-terrain mobile robots in complex outdoor environments.
Abstract
To effectively improve the adaptability and traversal abilities of a multi-terrain mobile robot under the dynamic excitation of multiple roads, we explore the mobile robot’s vibration and joint driving output stall caused by the dynamic excitation of the road spectrum function and analyze techniques for reducing the vibration and enhancing the driving moment of a four-wheel differential-speed mobile robot. A double-wishbone vibration reduction suspension and a moment compensator were designed for a multi-terrain mobile robot by theoretically describing its suspension-wheel-road dynamics. Also, the mobile robot’s road adaptability and traversal abilities were mathematically characterized under dynamic excitation. Co-simulation in ADAMS-MATLAB/Simulink is performed such as the harsh condition of in situ rotation and outdoor experimental schemes are implemented in which the experimental data are analyzed. The experimental result verifies the correctness of the theoretical analysis, as well as the effectiveness of the vibration reduction suspension and the moment compensator. The compatibility of the mobile robot’s driving mechanisms with road traversal abilities has been improved under various terrain conditions in complex field operation scenarios.
1. Introduction
As general intelligent mobile platforms integrated with environmental perception, autonomous reasoning, environmental modeling, and complex task planning and decision-making, multi-terrain mobile robots have favorable road traversal abilities, environmental adaptability and field operability. Intelligent mobile robots with operational tools and information perception modules have been applied extensive efforts to research by relevant academic institutions worldwide. At present, regarding strengthening the autonomous operability of mobile robots in complex outdoor environments, relevant institutions have made progress and presented some milestone achievements in research and exploration, such as the future tactical mobile robot Demo developed by the US Department of Defense, the mobile robot Navlab developed by Carnegie Mellon University. China has also made remarkable achievements in the field of mobile robots. China’s self-developed Yutu-2 rover [1] and Zhurong rover [2] have respectively carried out inspection missions on the far side of the moon and the surface of Mars.
The design of mobile robots used for outdoor work is particularly important, as the suspension mechanism ensures road adaptability and the robot’s stability [3, 4]. For example [5], a double-fork suspension is designed to improve the road adaptability and stability of the mobile robot. For the design of a driving mechanism, in Refs. [6, 7], a wheel-legged robot and its control method are designed. The design allows the robot to move flexibly on flat surfaces and has excellent passing ability on rough terrain, greatly improving the robot’s environmental adaptability and overall mobility. In Ref. [8], a six-wheel driving multi-terrain mobile robot was explored. A dynamic model was established, its obstacle-surmounting abilities were analyzed, and the simulation experiment results were provided. In this study, the specific parameters for a vibration reduction suspension mechanism in complex application scenarios were also provided. In Ref. [9], aiming at the active suspension mobility system of the rover, the vehicle body lifting and wheel lifting are proposed to improve the rover’s passing performance and fault tolerance. To enhance the road adaptability and obstacle-surmounting abilities of mobile robots, in Ref. [10], a bionics-based suspension mechanism was designed. The basic parameters were determined, the vibration reduction effect under load was optimized, and a nonlinear model predictive control (NMPC) method for addressing the "slip" phenomenon was designed. The experimental results verified the optimization of the corresponding road traversal abilities, but this result was obtained for only a small-size crawler.
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Buyun Wang, Menglong Jiang, Bing Zhao, Wen Peng, Yi Liang, Jun Cheng, Hanchun Hu (2025). Study of a Moment Suspension Mechanism for Off-Road Operation of a Multi-Terrain Mobile Robot. Chinese Journal of Mechanical Engineering. https://doi.org/10.1186/s10033-025-01283-x
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Frequently Asked Questions
What is the main contribution of this paper?
The paper designs a double-wishbone vibration reduction suspension and a moment compensator for a four-wheel differential-speed mobile robot, improving its road adaptability and traversal abilities under dynamic excitation.
How was the proposed mechanism validated?
The mechanism was validated through co-simulation in ADAMS-MATLAB/Simulink and outdoor experiments, confirming the theoretical analysis and the effectiveness of the suspension and compensator.
What are the key components of the suspension system?
The key components are a double-wishbone vibration reduction suspension and a moment compensator, which work together to reduce vibration and enhance driving moment.
What are the practical applications of this research?
The research enhances the field operability of multi-terrain mobile robots in complex outdoor environments, such as inspection, exploration, and other off-road tasks.
What is the significance of the moment compensator?
The moment compensator helps prevent joint driving output stall and improves the driving moment, thereby enhancing the robot's ability to traverse rough terrain.
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