ISU (In-arm hydropneumatic Suspension Unit) are popularly applied to recently developed tracked vehicles because of better performance of ISU than the one of the conventional HSU (Hydraulic Suspension Unit). However, function deterioration and malfunction phenomena of the several ISUs were observed due to leakage of hydraulic fluid during operation of the tracked vehicles. The objective of this study is the investigation of fundamental leakage mechanism of hydraulic fluid for the ISU. The leakage mechanism was investigated by comparing both results of the technical data analysis and overhaul inspection of the ISU which occurred leakage of hydraulic fluid. Finally, the leakage mechanism found in the current investigation was verified by using experimental methods.

Security robot has gradually developed and deployed in order to protect civilian’s lives as well as fortune and subjugate the shortcomings of CCTV which lacks of mobility. We have developed a security robot for outdoor environment and the main purpose of the driving mechanism is to overcome the bumps or projections with high speed. The robot platform consists of 4 omnidirectional wheel-based driving mechanisms and suspension for each driving mechanism. In this paper, principal suspension parameters of outdoor security robot for overcoming obstacles with stability are studied and approximately optimized using Response Surface Methodology (RSM) since it is difficult to find the exact relationship between suspension parameters and the shock, which is significantly associated with stability of the robot, at the robot platform. Simulation using ADAMS is conducted for assessing the feasibility of optimized design parameters.