Design on a Composite Mobile System for Exploration Robot

Table 1

Performance parameters of the wheel-tracked robot.

Name of relevant parameters	Parameter values	Unit
Suspension quality of front wheel ()	10.5	kg
Suspension quality of rear wheel ()	13.5	kg
Quality of front wheel track ()	5.5	kg
Quality of rear wheel ()	2.5	kg
The equivalent stiffness coefficient of the front wheel track relative to ground ()		N/m
The stiffness coefficient of the rear wheel track relative to ground ()		N/m
The equivalent stiffness coefficient of the spring before optimization of the position connecting the front wheel and suspension ()		N/m
The equivalent damping coefficient of the damping element before optimization of the position connecting the front wheel and suspension ()	164	Ns/m
The equivalent stiffness coefficient of the spring before optimization of the position connecting the rear wheel and suspension ()		N/m
The equivalent damping coefficient of the damping element before optimization of the position connecting the rear wheel and suspension ()	200	Ns/m