Innovative design for wheeled locomotion in rough terrain

摘要: Abstract 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 front and rear, two wheels arranged bogie each side. The spring suspension to guarantee optimal ground contact of all at any time. is realized by synchronizing rear speed difference This allows precision maneuvers even turning spot with minimum slippage. use parallel articulations bogies enables set virtual center rotation level or below axis. insures maximum stability climbing abilities very low friction coefficients between ground. A well functioning prototype been designed manufactured. It shows excellent performance surpassing expectations. robot, measuring only about 60 cm length 20 cm height, able passively overcome obstacles up times its diameter can climb stairs steps over 20 cm.