This study details the development of a semi-active suspension wheel module for small mobile robots and assesses its dynamic characteristics under various driving conditions through simulation. The wheel module features a low-degree-of-freedom mechanical design and includes a semi-active damper to improve adaptability to different environments. To validate the simulation model, a prototype robot equipped with the wheel module was created, and obstacle-crossing experiments were conducted to measure vertical acceleration responses. The model was then refined based on these experimental results. By employing design of experiments and optimization techniques, the effective range of damping coefficients was estimated. Additionally, simulations were carried out at different speeds, payloads, and obstacle heights to identify optimal damping values and examine their trends. The results indicate that the proposed module significantly enhances driving stability and can serve as a foundation for future control strategies in robotic mobility systems.

The purpose of this study is to evaluate the deformation behavior of 3D printed specimens using the small punch tensile test method. Traditional tensile tests for assessing mechanical properties require a significant amount of material to produce uniaxial tensile specimens. In contrast, the small punch test method only requires 10 x 10 x 0.5 mm (width x length x thickness) thin plate specimens, providing a substantial economic advantage in specimen sampling and production. This method is particularly beneficial when it is impossible to produce specimens of the same size as uniaxial specimens, as it allows tensile testing with just the minimum sample required. In this study, we utilized fused deposition modeling 3D printing and considered various 3D printing parameters, such as layer height and volume fraction, while manufacturing the specimens. We then compared and analyzed the effects of these variables on tensile strength as measured by the small punch tensile test. Furthermore, we focused on investigating the applicability of this method to the deformation behavior of 3D printed specimens. We also examined the impact of laminating conditions, including layer height, printing speed, and laminating direction, on the failure modes observed after the small punch tensile test.