System design and validation of independently articulated suspension leveraging a sum-of-moments framework for the BioBot system

This paper presents an analysis technique for the design of independently articulated suspension systems for planetary surface rovers, utilizing a quasi-static force evaluation methodology. Using a sum-of-moments approach, the methodology presented assesses hardware-focused optimization variables in large range of motion suspension designs to determine their effectiveness in maintaining stability and mobility across diverse terrains. The analysis incorporates both theoretical modeling and empirical data, providing a robust framework for predicting a configuration’s suspension performance. Findings indicate that the sum-of-moments method offers a reliable means of predicting suspension stability and force modeling with low computational requirements, facilitating the design of more efficient and resilient rover systems. • Quasi-static force analysis applied to planetary rover suspension systems. • Validation of theoretical models with measured load-cell data in high range-of-motion articulated suspension rover. • Suspension design modeling path definition. • Identification of hysteresis in as-built roving vehicle suspension system.