armlabreu

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

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 t...

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...

Attempt to climb over a 2 inch step

coefficient of friction set at 0.7

A Vehicle attempts to climb a 6 inch step with a friction coefficient set at 0.6

Stair climbing vehicle

Making an Obstacle climbing robot

Change made to overall design

The vehicles's wheel velocity was changed to 240 degrees/second so we can see the vehicles performance in climbing the obstacle.

The first 9 videos all had the wheels rotate at 90 degrees per second. The 10th video had the wheels rotate at 360 degrees per second. In this vi...

The robot climbed the obstacle in the previous video, we will see if the robot will climb with friction reduced to the original 0.5.

Friction constant set at 1.0 for tires and terrain.

Wheel velocity was increased to 360 degrees per second.

The vehicle clears the terrain

K= around 12 for all the joints

Natural Angle = 0

The vehicle still doesn't climb the vehicle. The torques on the front leg are too high for the ...

K= 100 N*mm/degree

Natural Angle= 20 degrees

The springs are initially set to their equilibrium position. The vehicle moves towards the step but do...

The chassis planar constraint is reinstated. The angle of the links of the 4 bar was increased to 20 degrees. Only the front leg of the obstacle cl...

First prototype of four-bar suspension