Dynamic modeling of the extended mobile robot: Composed N parallel axles, suspension system, and wheels slippage

In this study, the new mobile robot with N parallel axles were designed and developed as well as its motion equations derived. It uses several parallel axes, which, at different surface conditions, increase its mobility compared to similar ones. The number of parallel axes in such robotic systems makes studies the effect of slip mandatory due to the increase in the wheels contact area. These effects make a difference in the mobile robot kinematic constraints equations. The mobile platform requires a suspension system for reducing the effects of oscillations due to the floor. Finally, the dynamics model of a mobile robot obtains by considering the effect of wheels slips, suspension, and parallel axles using Lagrange equations. The concluded model is simulated for a two-axis mobile robot with four-wheels in different surfaces conditions. It can be seen that the deviation of the robot is eminent besides that the wheel’s slips affect the system performance based on the floor conditions. Consequently, the robot deviation on ice is less than that on loose gravel, while the mentioned deviation on the loose gravel being twice. This robot can be used as space exploration, rescue robot and neutralizing due to its mobility efficiency and accuracy.