Rocker Differencing Kinematic Suspension

This picture shows all the linkages in the rocker differencing suspension system. The two rocker arms are attached to the chassis (not shown) in the center and can rotate about that joint. The large lever in the middle also attaches to the chassis and can rotate about its center. Both rocker arms are connected to the lever through tie rods. The result is a passive kinematic linkage suspension that allows the rocker arms to rotate relative to the chassis and opposite each others motion. Similar to the rocker-bogie suspension system, this reduced complexity design increases mobility by allowing the rover to traverse obstacles greater than the diameter of its wheel. It also creates ground compliance, which increases the probability that all four wheels will always be in contact with the ground, which is especially important on rough or uneven terrain.