Development of Control System for Simulation and Verification of Four-Wheeled Mobile Robot Model with Shock-Absorbing Chassis

The paper presents the design and analysis of a simulation model of the motion of a four-wheeled robot with a shock-absorbing chassis on a plane with the right pair of wheels on the ramp, drive on it and drive off the ramp and derive plots of the bending force acting on the upper suspension arm, force in the spring, moment on the rear wheel, angles of rotation of suspension hinges, speed of the cart and suspension levers on time. It was required to verify the coefficients of spring stiffness and spring length at rest from the spring calculation by the condition of locating the upper suspension arm perpendicular to the side surface of the robot when the robot is on the plane without external forces and torques, as well as by the condition of reducing the clearance of the robot. Based on the calculated forces for the suspension arms, a cross-section for the suspension arms is selected and their strength is calculated for the subsequent design of the physical robot.