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Top-Level Structural and Mechatronic Design of a 6WD Outdoor Autonomous Delivery Robot with a Redesigned Adaptive Climbing Rocker-Bogie Suspension

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Abstract:

This paper presents the design, construction and development of an autonomous delivery robot aimed at structured environment such as university campuses, hospitals, residential estates and factories. The system integrates a six wheeled differential drive platform with a redesign adaptive climbing rocker-boogie suspension system. It makes use of an array of high precision sensors such as LIDAR, ultrasonic sensors, IR sensors, depth camera, real time kinematics (RTK) GPS for real time navigation and obstacle detection. The autonomous delivery robot is managed using ROS 2-based system running on an Nvidia Jetson nanoand features a mobile application for remote tracking, management and control. Simulation based testing in gazebo as well as experimental validation was conducted to evaluate the robot’s autonomous behavior and delivery performance.

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Periodical:

Applied Mechanics and Materials (Volume 935)

Pages:

169-186

DOI:

https://doi.org/10.4028/p-42QWVi

Citation:

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Online since:

April 2026

Authors:

Chidalu Ndupu Sixtus, Fauzeeyah Usman Abdullahi*, Demilade Magaji, Nyangwarimam Obadiah Ali, Thomas Sadiq

Keywords:

Autonomous Delivery Robot, Obstacle Detection, Rocker-Boogie Suspension, ROS2, Sensor Fusion, Six-Wheeled Robot

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© 2026 Trans Tech Publications Ltd. All Rights Reserved

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* - Corresponding Author

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