Dynamic Rocker-Bogie: Kinematical Analysis in a High-Speed Traversal Stability Enhancement

Table 4

Data from the velocity, acceleration, angular velocity, and angular acceleration variation.

	Original conf.	High-speed traversal conf.
Minimum value of velocity (m/s)	0.16	0.29
Maximum value of velocity (m/s)	0.62	0.54
Velocity variation range (m/s)	0.46	0.25
Minimum value of acceleration (m/s^2)	0.06	0.33
Maximum value of acceleration (m/s^2)	51.61	10.11
Acceleration variation range (m/s^2)	51.55	9.78
Minimum value of angular velocity (deg/s)	0.02	0.07
Maximum value of angular velocity (deg/s)	20.65	11.25
Angular velocity variation range (deg/s)	20.63	11.18
Minimum value of angular acceleration (deg/s^2)	7.54	21.55
Maximum value of angular acceleration (deg/s^2)	1549.71	892.02
Angular acceleration variation range (deg/s^2)	1542.17	870.47