This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible,...

Abstract Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this has also shifted to different types of terrestrial applications such as in agriculture, military, and rescue fields. The can be designed so that, when rover is flat horizontal ground, weight evenly distributed among wheels; way, all wheels same traction capa...

En la presente investigación se diseña y valida una geometría de suspensión tipo Rocker-Bogie basados en el análisis grados libertad para su futura implementación dentro del sector industria exploración espacial. Ello tiene como finalidad principal recolección, transporte basura desperdicios a sectores estratégicos las instalaciones, sorteando obstáculos diferente nivel, aunque también podría a...

Active steering system of railway vehicles has proven its ability to bridge the gap between stability and curve friendliness. Generally scaled railway vehicles were developed to reproduce the fundamental dynamic behavior of the full size railway vehicle in laboratory conditions. This paper describes the design of the braking/traction control systems as a part of a 1/5 scaled railway vehicle for...

Reduction of the force interaction between vehicle and track is strongly desirable for many reasons. Because conventional methods reduction wheel-rail contact forces, based on tuning suspension parameters or utilising various mechanisms acting wheelsets, bogie-frames car-body, reach their limits, active controlled systems are becoming a promising solution problem. The paper created within proje...

This paper investigates a physical model of the wheel traction in the relationship of the motion dynamics, and thereby studies the cases where a rover negotiates with natural rough terrain, slips and stacks on a steep slope. Experiments are carried out with a rover test bed to observe the physical phenomena and extract essential parameters, and the dynamic simulations are carried out to be comp...

The article is devoted to the development of a mathematical model an industrial tractor with semi – rigid suspension. intended for computational study vibrations at driver's seat caused by low frequency impact from caterpillar mover. A review wel l–known models describing dynamics system “soil mover body cabin vibration protection driver” made. Various methods soil modeling and caterpillars are...

The superconducting magnetically levitated transport (Maglev) system is conceptualized as a next-generation high-speed transportation system. For practical use, it is important to achieve adequate ride comfort particularly in high-speed running. Maglev vehicles are composed of lightweight car bodies and relatively heavy bogies which are mounted with devices such as superconducting magnets (SCMs...