The rocker-bogie suspension mechanism its currently NASAs one of the favourite design for wheeled mobile robots, mainly because it has multipurpose capabilities to deal with different types of surface and obstacles because it uniformly distributes the overall weight over its 6 wheels at all times. That's why it has many advantages when dealing with obstacles, there is one of the disadvantage is its low average speed of operation, the rocker bogie system generally not suitable for situations where high-speed operations for which to cover large surfaces Areas. mainly due to stability problems. Our purpose is to increase the stability of the rocker-bogie mechanism system by expanding its support design structure, making it more stable and flexible while moving at high speed, at different surfaces but keeping its original flexibility against obstacles. Most of the flexibility of this method can be achieved without any mechanical modification to existing designs only a change in control strategy. Some mechanical changes are required to Achieve the maximum Advantages and to increase the rover operations speed in future. We will develop a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and climbing over them. The Rocker-Bogie Mechanism system was designed to be used at slow speeds. It is capable of overcoming obstacles that are depends upon the size of a wheel.
Control Strategy for the Pseudo-Driven Wheels of Multi-Wheeled Mobile Robots Based on Dissociation by Degrees-of-Freedom