In this paper, we propose a newly developed suspension system called “Pentad Grade Assist Suspension (PEGASUS)”. PEGASUS has high mobility as well as rocker-bogie suspension, with very simple mechanism called only-one-joint architecture. PEGASUS is able to successfully climb up on the stepalike terrain with low energy consumption by scale model test. The prototype of micro planetary rover Micro...

Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed ...

This paper presents the responses of the railway vehicle and track components in terms of contact forces and displacements. The considered vehicle model is a five-DOF pitch-plane lumped parameter quarter car model supported on two-dimensional track systems comprising three layers. The car body is linked with the vehicle bogie through secondary suspension springs and damper elements, which is fu...

When high-speed train runs in the environment with a large number of airborne particles, these particles may accumulate on bogie train, which will further challenge normal operation and reduce riding comfort safety. In order to prevent entering into area, different protective devices around are used. However, up present, systematical analysis effects diverse measures against types still very li...

ABSTRACT The quality of ride is predominantly controlled by the design of the secondary suspension in rail vehicles. That is why air springs are increasingly important suspension component in rail vehicles. This is necessary for higher preload, higher speed as well as improved ride dynamics and noise levels. These necessities have created an interest for modeling the air springs for the simulat...

In our paper we present an innovative locomotion concept for rough terrain based on six motorized wheels. Using rhombus configuration, the rover named Shrimp has a steering wheel in the front and the rear, and two wheels arranged on a bogie on each side. The front wheel has a spring suspension to guarantee optimal ground contact of all wheels at any time. The steering of the rover is realized b...

A system that enables continuous slip compensation for a Mars rover has been designed, implemented, and field-tested. This system is composed of several components that allow the rover to accurately and continuously follow a designated path, compensate for slippage, and reach intended goals in high-slip environments. These components include: visual odometry, vehicle kinematics, a Kalman filter...