Design and simulation of a mobile platform with a semi-active suspension for uneven terrain

The paper is focused on the design of a mobile wheeled platform able to move in uneven/ unstructured terrains and particularly intended for supporting the work in agriculture. An independent double wishbone suspension is chosen to obtain a light and compact structure. Furthermore, a semi-active suspension with magnetorheological dampers and the ability to change the track of wheels is proposed to minimize uncontrolled vertical movements of the platform. A dynamic model is formulated to carry out simulations including various obstacles and cases with constant/controlled damping coefficients. As a final result, a conceptual CAD model is built with selected motors and standardized parts.

---

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki (2025).