Thanks for the compliments and questions, I will try to do my best with some answers!
The drive is made of a "longitudinal walking beam" rigid module on both sides and pivots sing a shaft with two bearings. The suspension is composed of springs and dampers using a pneumatic cylinder that is pressurized. To reduce the weight of putting a compressor on the robot and to counter-act the “see-saw” effect, we are using a linear actuator that will lock the suspension in place when traveling on flat ground. To help with going up the bump diagonally, we decided to use Omni wheels (double wide on each side) on the backside of the robot. The effect of this is whenever we go over a bump at an angle; the robot will actually center itself automatically. It does work if we go over backwards, but not as well. The robot also has 8” of cross-wheel travel when the suspension is unlocked.
I hope this helps clarify some of the features on our robot. Please feel free to post any more questions (or compliments of course
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