The Crusher UGV (Unmanned Ground Vehicle) is an advanced robotic platform developed by Carnegie Mellon University’s National Robotics Engineering Center (NREC) for the DARPA UGCV (Unmanned Ground Combat Vehicle) program. Its suspension system is a key feature that enables it to traverse rough, off-road terrain effectively.
Crusher UGV Suspension System Overview
1. Independent Articulated Suspension
– The Crusher uses a 6×6 wheeled configuration with fully independent suspension on each wheel.
– Each wheel is mounted on a swing arm with an articulated joint, allowing it to move vertically and adapt to uneven terrain.
2. Hydropneumatic Suspension
– The system employs hydropneumatic struts (similar to those used in tanks and heavy off-road vehicles) for damping and load distribution.
– Provides adjustable ride height and stiffness, improving stability over obstacles.
3. Torque-Controlled Wheels
– Each wheel has an electric hub motor, allowing precise torque control for traction management.
– The suspension works in tandem with the drivetrain to maintain ground contact even on highly irregular surfaces.
4. Passive & Active Terrain Adaptation
– The Crusher’s suspension is largely passive but benefits from the vehicle’s intelligent control algorithms.
– The system dynamically adjusts wheel forces to prevent rollovers and maintain mobility.
5. High Ground Clearance & Obstacle Negotiation
– The articulated suspension allows the Crusher to climb over large obstacles (e.g., rocks, logs) while keeping the .jpg)
ssis stable.
– It can handle vertical steps up to ~1 meter high.
Advantages of Crusher’s Suspension
– Off-Road Mobility: Can traverse rocky, muddy, and steep terrain better than rigid-frame vehicles.
– Weight Distribution: Evenly distributes load across all wheels, reducing ground pressure.
– Survivability: Reduces shock loads on sensors and payloads when driving over rough terrain.
Comparison to Other UGVs
– Unlike tracked UGVs (e.g., PackBot), the Crusher’s wheeled + articulated suspension provides a balance between speed and off-road capability.
– More advanced than traditional solid-axle suspensions found in military trucks like the HMMWV.
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