Analysis, Modeling, and Simulation of a Rocker–Bogie System Overcoming a Harmonic Bump

Rocker–bogie suspension systems have been extensively employed in planetary exploration rovers due to their ability to traverse highly irregular terrains while maintaining ground contact. Traditionally, their mechanical behavior has been analyzed using quasi-static models, given the low operational speeds typical of space missions. However, similar configurations are now being proposed for terrestrial applications in agriculture, defense, and logistics, where higher traversal speeds and more varied terrain conditions require a deeper understanding of the system’s dynamic response. This study analyzes some aspects of the kinematic and dynamic behavior of a rover with rocker–bogie suspension while traversing an obstacle with a harmonic profile. Both quasi-static and dynamic simulations are conducted, focusing on the time-varying contact forces at the wheels. Key findings include identifying the rate at which load reduction at which the load on one wheel becomes zero and the wheel tends to lift off the ground. These threshold speeds are mapped as a function of height and wavelength of the bump, providing design insights for applications requiring higher traversal speeds on uneven terrain. The analysis may also prove valuable for rovers equipped with visual sensor systems capable of mapping their surroundings and identifying obstacles, to determine whether they can be traversed and, if so, at what maximum speed. An experimental investigation was conducted with a small-scale rover to verify the theoretical results, for which the threshold speed was found to be 0.3 m/s, calculated for h = 16 mm and λ = 80 mm.