Design and Development of a Quarter-Car Model Active Suspension System for a Mobile Robot to Enhance Terrain Adaptability with Better Stability and Mobility

Abstract

Robotics is a field that represents an important milestone in modern technology. In this robotic field, new designs and solutions emerge daily and the service provided is immense. Among them, mobile robots are regarded as exceptional inventions. The ability to recognize and avoid obstacles is built into many mobile robots. However, the development of mobile robots that can recognize and navigate obstacles has received very little attention. In this study, a novel solution is introduced to fill this vacuum. This study aims to design and develop an active suspension system for a mobile robot, which would help robots move forward, overcome obstacles, and increase stability as well as mobility. The active suspension system of the robot is evaluated both practically and theoretically using different angled surfaces between 10 and 60 degrees. Additionally, the responses from the gyro and accelerometer sensors were examined for various terrain conditions. Through this study, both obstacle identification and wheel speed adjustment based on acquired data were aided when necessary to reduce the speed by 30-40%. The unique feature of this robot is its constant effort to stay horizontal and overcome rolling and bending. Additionally, introducing this novel solution can address significant issues, including the complexity of the control systems, the rise in production costs, and the intricate design of the existing robot suspension system.