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Research on Obstacle-Crossing Performance of a Passive Rocker-Bogie Six-Wheel Mobile Platform for Nuclear
Jun Liu1,2, Qian Deng1,2, Shihua Liu1,2
1College of Mechanical Engineering, University of South China, Hengyang 421001, China.
Sensors (Basel, Switzerland)
|July 28, 2026
Summary
This study developed a six-wheeled mobile platform to support nuclear demolition robots, reducing downtime for attachment replacement. The platform successfully navigated challenging terrain, demonstrating its engineering feasibility for radiation environments.
Area of Science:
- Robotics
- Mechanical Engineering
- Nuclear Engineering
Background:
- Demolition robots at nuclear sites face inefficiencies due to frequent attachment replacements.
- Current robots require retreats to safe zones, causing significant operational downtime.
Purpose of the Study:
- To develop and evaluate a six-wheeled mobile platform for on-site attachment-replacement support.
- To assess the engineering feasibility and performance of this platform in nuclear environments.
Main Methods:
- A six-wheeled platform with rocker-bogie suspension and independent drive was designed.
- Multibody simulation (ADAMS/Simulink) and onboard sensor measurements were used for evaluation.
- The prototype was tested on a 20° slope and a 250 mm vertical step.
Main Results:
- The platform successfully completed terrain tests, including slopes and steps.
- Measured motor torques remained within the allowable drive range during testing.
- Performance validated the engineering feasibility for heavy-duty nuclear support.
Conclusions:
- The developed mobile platform offers a viable solution for reducing robot downtime at nuclear sites.
- It provides a structural and performance reference for mobile operations in radiation environments.
