Design and Stability Analysis of 6-Wheel Guide-Bar-Linkage Suspension for Mobile Robots

A new type of 6-wheel guide-bar-linkage suspension is proposed according to the rough terrain that mobile robots drive over, by considering the factors of obstacles crossing over, terrain adaptability and robot cab stability. Its structure and working scheme are thoroughly discussed, and a mechanical model, formed by wheels, terrain and suspension in the condition of the cab running over the terrain, is built. The suspension's terrain-adaptability is evaluated from the view of DOF (degree of freedom) computation. A parametric model of the suspension in Pro/E is built, the cab's stability simulations are conducted in Pro/Mechanism environment when single-wheel lifting and double-wheel lifting respectively, and Euler angles of cab are measured while the heights of front, middle or rear wheels independently or collaboratively changing. These tests are followed by simulations in ADAMS to examine the adaptability of the suspension in comprehensive terrain. Finally, a physical prototype is manufactured and performances of the prototype are tested in respect of grade climbing and obstacle crossing over. The results indicate that the distribution of load on the wheel is even, the adaptability to terrain is strong, and it can cross over a vertical obstacle as high as 350 mm.