Side by side comparison of two vehicles with leg-wheel suspensions climbing a step in visualNastran

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The forward facing leg-wheels climb the step successfully, but the rear legs lock-up against the step. This is a function of the shape traced by the coupler link which does not allow the necessary motion.

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Final prototype for leg-wheel locomotion study is shown climbing a four inch step with only four inch diameter wheels. The rear leg becomes stuck at the end of the video because the springs on the middle legs are not quite strong enough.

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