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Conference Papers Year : 2023

Performance evaluation of an innovative suspension system for obstacle crossing

Denis N’chot
  • Function : Author
  • PersonId : 1266698
Jean-Christophe Fauroux
Lama Al Bassit
Roland Lenain

Abstract

Unmanned ground vehicles designed for exploring unstructured unknown environments usually move at very low speed because they can encounter different types of obstacles. For some tasks, however, they need to move faster, which increases the risk of tipping over and taking off the ground. This paper compares a new suspension, build with both vertical and longitudinal dampers (Susp-4D), to a classical vertical-only damping suspension (Susp-3D) through geometric and kinematic models, and experimental tests. The rover equipped with Susp-4D endured a lower deceleration from the shock with the obstacle, and lost less speed and less kinetic energy. The vehicle with Susp-4D did not pitch down against the obstacle, but rather pitched up, which should allow it to cross any obstacle easier than with a classical suspension.

Dates and versions

hal-04487433 , version 1 (03-03-2024)

Licence

Attribution - NonCommercial - ShareAlike

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Cite

Denis N’chot, Jean-Christophe Fauroux, Lama Al Bassit, Roland Lenain, Philippe Vaslin. Performance evaluation of an innovative suspension system for obstacle crossing. 25th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2022), Sep 2022, Ponta Delgada, Azores, Portugal. pp.95-106, ⟨10.1007/978-3-031-15226-9⟩. ⟨hal-04487433⟩
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