The invention relates to a suspension system with rigidness adjusted in a semiactive manner for a caterpillar track type mobile robot. The suspension system comprises a plurality of suspending brackets, a plurality of supporting wheels, a positioning plate and a caterpillar track, wherein the positioning plate is mounted on the lateral side of the caterpillar track; the supporting wheels are mounted at the top of the inner side of the caterpillar track; the suspending brackets are mounted on the inner side of the caterpillar track. According to the suspension system, the rigidness can be adjusted in the semiactive manner; when the robot passes through different task terrains, the rigidness of the suspending brackets can be changed by the acting force, in the vertical direction, of the ground on the suspending brackets, and the suspension system has the capacity to adapt to the rigidness; when a sensor detects that the accelerated speed, in the vertical direction, of the suspending brackets does not meet the requirements of the accelerated speed for passing through a task terrain, namely the optimal rigidness of the suspending brackets for passing through the task terrain is not reached, the electric currents in electromagnet coils can be adjusted, so that the rigidness of the suspension system meets the requirements for passing through the task terrain, and the rigidness adjusting accuracy is improved.
Suspension system with rigidness adjusted in semiactive manner for caterpillar track type mobile robot
06.01.2016
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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