Design, analysis and construction of a novel flexible rover robot

This paper presents a novel rover robot construction progress which is named Patrol-s. The main contribution of constructing this robot is based on reducing the vibrations which are effected on the robot body from the movement surface. In order to achieve this purpose, the design of the proposed robot is classified in three main parts, namely, wheels, middle body and stabilizer parts. The wheels are composed of big circular disks, half circular legs and springs. The springs are installed to reduce the effects of environment strokes on the robot. in the proposed robot, the half circular legs are used in order to facilitate obstacle planning. The stabilizer parts are used in order to prevent the rotation of middle body and upward movement of slope. The controlling of this robot is an open loop control. In order to improve the control performance several sensors are applied on the robot body to provide better information from the situation of the proposed robot. In order to find the compatible material and predict some of the robot reaction in different situation, the dynamic behaviour is simulated in ADAMS MSC software. Finally, the simulation results validated the desired performance of the proposed robot.