Conception of suspension system with variable stiffness for mobile robots

The paper presents the results of work on an innovative form of the suspension node. It is a concept of semi-active suspension that allows for control the stiffness system during operation of the device. This type of suspension can be used in robotic intralogistics systems, where mobile platforms must have a suspension that ensures adequate vibration damping, keeps the platform in a horizontal position, and at the same time provides adequate pressure to the ground of the drive wheels. A particularly interesting object with the potential possibility of using such a suspension are vehicles with omnidirectional wheels. The proposed design form is the first prototype version, which should primarily be used to validate computational models. The idea of the developed suspension element refers to the double torsion shafts.