Geometry and Kinematics of a Mobile Platform with a Rocker-Bogie Suspension During its Spatial Movement on an Uneven Surface

This article presents mathematical modeling of the motion geometry and kinematics of a mobile platform with a rocker-bogie suspension during its spatial movement on an uneven surface. The aim of the work is to construct equations linking the generalized coordinates and velocities of the system during continuous motion of the robot on the support surface, taking into account the non-slip of the contact points. In particular cases of robot motion on horizontal and inclined planes, solutions of the equations of motion geometry relative to the generalized coordinates of the system are obtained. In the particular case of flat motion of the robot platform along a horizontal plane, a solution of the inverse kinematics equations is found. The results of the work can be used in developing robot motion control systems and planning optimal motion trajectories.