This article describes a model for a skid steer robot that quantifies the reaction forces between the wheels and the ground, which includes the effect of the passive suspension when the robot moves on flat and inclined terrains. In addition to the internal parameters of the suspension, this model included external parameters related to other components of robot and the robot-terrain relationship. With this model, which was validated through simulation, it was studied the effect that suspension produces in tip-over stability and steerability of robot when it moves on different terrain inclinations, specifically when the parameters of suspension system and wheel-ground contact are varied.

中文翻译：

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在倾斜地形上移动的机器人倾翻稳定性和转向性的悬架效应

本文介绍了一个滑移转向机器人模型，该模型量化了车轮与地面之间的反作用力，其中包括机器人在平坦和倾斜地形上移动时被动悬架的影响。除了悬架的内部参数外，该模型还包括与机器人其他部件和机器人-地形关系相关的外部参数。通过仿真验证了该模型，研究了悬架在机器人在不同地形倾斜度上移动时，特别是当悬架系统参数和车轮与地面接触的参数变化时对倾翻稳定性和转向性的影响。