Efecto de la suspensión en la estabilidad al vuelco y direccionamiento de robots moviéndose sobre discontinuidades de terreno

This article studies the effect produced by the suspension system in tip-over stability and steerability of a Skid Steer mobile robot, when it faces different terrain discontinuities: descent (front and side) and ascent on steps, plus displacement over ditches. Specifically, the moment was studied when impact loads producted by the robot's movement on the irregularity of the terrain are generated. In each case, a correlational analysis was made about the effect in tip-over stability and steerability (quantified with metrics based on the reaction forces of the wheels with the ground), by varying four parameters that define the suspension system: stiffness constant in the springs, damping constant in the dampers and the stiffness and damping constants in the wheels. Finally, it was estimated for each case, what magnitudes these parameters should acquire to ensure better stability and steerability of robot.