Mobile Robots on 4, 6 or 8 Wheels Adapted for Uneven Terrain

Ovidiu Antonescu 1*, Dana Valeanu 1, Daniela Antonescu 2, Margareta Strimbeanu 2

1 Department of Mechanism and Robot Theory, University Politehnica of Bucharest
2 “Iuliu Maniu” High School of Bucharest
* Corresponding author. E-mail:

Robotica & Management, Vol. 28, No. 1, pp. 04-08

Abstract: The paper presents several types of mobile robots (MR) with 4, 6 and 8 wheels adapted for moving on uneven terrain. In the case of MR on 4 wheels, their diameter is limited and the chassis is raised, the ground clearance being higher than the height of a bump. MRs on 4 or 6 wheels have the chassis linked to the motor wheels by articulated bars as a dyad or tetrad variable geometry suspension. MR on 8 wheels use 4 planetary motor gear sets in tristar shape.

Keywords: mobile robot, motor wheel, planetary motor gear set.

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