Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

178 Chapter 5 Tracked Vehicle Suspensions and Drivetrains
Figure 5-11
Leaf spring rockers
A simple variation of the rocker system is to replace the rockers with
leaf springs (Figure 5-11). This eases the shock to the rocker and produces
a smoother ride. The springs are usually very stiff since the rocker
arm’s swinging motion still allows the wheels to make large motions.
This system can be retrofitted to rocker arm suspension systems if the
current rocker arm does not smooth the ride enough. Having road wheels
on both sides of the spring reduces the twisting moment produced by
having wheels on only one side. Figure 5-11 shows double wheels.
TRACK SYSTEM LAYOUTS
One-Track Drivetrain
What would seem to be the simplest track layout is one that uses only
one track. This layout is actually in existence in at least one form, and
mobility can be quite good. The most common commercially available
form of a one-track vehicle is the snow mobile. Although these vehicles
are designed exclusively for use on snow, replace the skis with
wheels, and they can be used on hard surfaces. The track on a snowmobile
is quite wide to lower ground pressure as much as practicable, but
there is no reason why a narrower track can’t be used with the wheeled
layout.
Mobility is limited somewhat by two factors: The wheels must be
pushed over obstacles and the layout is steered by the Ackerman system