Minirover with Mixed Suspension System

V. Gheorghe, S. Petrache, Adrian Cartal, A. Rotaru, Ionut Iulian Tudorache
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Abstract

The paper describes the concept and the implementation of a mixed suspension system on a minirover. The solution consists in a front rocker-bogie suspension with four non actuated wheels coupled with a spring-loaded suspension mechanism, while having in the back steerable traction wheels mounted on a spring-loaded suspension type mechanism. Furthermore, the delicate modules of the rover, have an additional damping system in order to limit the unwanted vibrations to these modules. The sum of these systems, along with proper electric drivetrain and specific control strategies, can make the minirover able to confront difficult terrains, while limiting the unwanted movement of its upper part. In most cases the mixed suspensions endows the minirover with capabilities like of climbing steps, different obstacles, with heights up to the diameter of the front wheels and more in special conditions, while having all six wheels in contact with the surface. The main control system of the minirover consists in a a miniboard computer Raspberry Pi attached to a touchscreen that facilitates an onsite software debugging or an online one.
混合悬挂系统的迷你车
本文介绍了混合悬架系统的概念和实现。该解决方案包括一个前摇臂-转向架悬架,带有四个非驱动车轮和一个弹簧加载的悬架机构,而在后面的可转向牵引轮安装在一个弹簧加载的悬架类型机构上。此外,漫游车的精密模块有一个额外的阻尼系统,以限制这些模块不必要的振动。这些系统的总和,加上适当的电力传动系统和特定的控制策略,可以使迷你车能够面对困难的地形,同时限制其上部不必要的运动。在大多数情况下,混合悬架赋予了迷你车爬坡、爬不同障碍物的能力,在特殊情况下,它的高度可以达到前轮的直径,甚至更多,同时所有六个轮子都与地面接触。迷你漫游车的主控系统由一个迷你板电脑树莓派(Raspberry Pi)和一个触摸屏组成,方便现场或在线调试软件。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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