Feasibility study of a wheel-legged unmanned ground vehicle

The thesis is focused on the feasibility study of a wheel-legged unmanned ground vehicles, and it starts with an introduction about precision farming, followed by an overview of different suspensions adopted by rovers. These solutions are examined according to several parameters and the best fitting solution is chosen. After comparing the original layout with different ones, the decision has been to select the original design changing the way how the actuation is performed. Having assumed the mass of the rover and the length of the arms, the torque needed by the rotative actuators has been computed and the CAD has been drawn. FEM analysis has been performed on the most stressed components. After these steps, the CAD model has been completed.