Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

컨테이너 크레인 스프레더는 체결시 발생하는 충격으로 인해 많은 고장이 발생한다. 이러한 충격력을 줄이기 위해 2자유도계 유압충격흡수장치를 설계하여 실린더 벽면의 치수변화가 감쇠계수에 미치는 영향에 대해 연구하였다. 내부압력이 작용할 때 벽면 치수를 2～3Omm로 변화시켜 이때 발생하는 실린더 벽면과 피스톤 사이의 틈새는 측정한 결과 Sun이하의 치수에는 벽면형상 굴곡 되며 l0mm이상의 치수에서 감쇠계수에 영향을 미치지 않는 것을 알 수 있다.