Mobile Robots on 4, 6 or 8 Wheels Adapted for Uneven Terrain

Abstract

The paper presents several types of mobile robots (MR) with 4, 6 and 8 wheels adapted for moving on uneven terrain. In the case of MR on 4 wheels, their diameter is limited and the chassis is raised, the ground clearance being higher than the height of a bump. MRs on 4 or 6 wheels have the chassis linked to the motor wheels by articulated bars as a dyad or tetrad variable geometry suspension. MR on 8 wheels use 4 planetary motor gear sets in tristar shape.