Dimensional synthesis of suspension system of wheel-legged mobile robot

This paper presents a method for selecting the common dimensions of the limb mechanism of a wheel-legged mobile robot.A synthesis task was formulated that divided it into partial stages.The solution was searched using a genetic algorithm.This accelerated the dimension selection process.The algorithm operated on integers, which made it possible to establish the accuracy of the sought basic dimensions of the limb mechanism.The objective of the synthesis was achieved, obtaining the assumed characteristics of wheel movement using the available drives.Finally, further aspects of the design of the limb mechanism of the wheel-legged mobile robot which need to be studied are presented.