Suspension Effect in Tip-over Stability and Steerability of Robots moving on Sloping Terrains

Abstract

This article describes a model for a skid steer robot that quantifies the reaction forces between the wheels and the ground, which includes the effect of the passive suspension when the robot moves on flat and inclined terrains. In addition to the internal parameters of the suspension, this model included external parameters related to other components of robot and the robot-terrain relationship. With this model, which was validated through simulation, it was studied the effect that suspension produces in tip-over stability and steerability of robot when it moves on different terrain inclinations, specifically when the parameters of suspension system and wheel-ground contact are varied.