Study of a Moment Suspension Mechanism for Off-Road Operation of a Multi-Terrain Mobile Robot

• 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.