A modified rocker-bogie mechanism with fewer actuators and high mobility

Abstract

In this study, a modified rocker-bogie mechanism that improves mobility using only two actuators and a damper is proposed. Previous mechanisms used large numbers of motors or complex controls to overcome obstacles such as rough terrain or stairs. To compensate for this, the damper-driven rocker-bogie (DDRB) was devised. The effectiveness of the damper was verified using quasi-static analysis, and the optimal parameters of the prototype were determined using multibody dynamics. Finally, the performance of climbing stairs was successfully demonstrated through experiments with the prototype. The mobility performance is expected to be improved through additional active systems, and will be applied not only to stairs but also to various rough terrains in the future.