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International Journal of Aerospace Engineering
Volume 2016, Article ID 5181097, 8 pages
http://dx.doi.org/10.1155/2016/5181097
Research Article

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

1School of Higher Vocational and Technical Education, Xi’an University of Technology, Xi’an 710082, China
2School of Mechanical and Precision Instrument Engineering, Xi’an University of Technology, Xi’an 710048, China

Received 19 April 2016; Revised 2 August 2016; Accepted 23 August 2016

Academic Editor: Christopher J. Damaren

Copyright © 2016 Sunxin Wang and Yan Li. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The rocker-bogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to high-speed traversal over the planar terrain. This paper proposes a new dynamic rocker-bogie suspension system with two modes of operation: it can expand the span of the rocker-bogie support polygon to increase travel rate when the terrain is planar; and it can switch to its original configuration to move by low speed when it is faced with rough terrain. The analysis on dynamic stability margin and kinematical simulation on the two operating modes of rocker-bogie are employed to analyze and verify the rationality and effectiveness of the modification in the structure.