An All-in-One Suspended Swerve Solution for Mobile Robots

Swerve steering provides maneuverability; suspension helps the wheels accommodate uneven surfaces. Combining them makes suspended swerve worth considering for mobile robots that travel across both smooth floors and more irregular ground.

Compared with an otherwise similar rigid-wheel installation, suspension can help maintain tire contact as the ground rises and falls beneath the robot. Air springs and adjustable damping can also moderate the chassis response to bumps.

The R1 module combines 3 inches of vertical wheel travel, adjustable air suspension, and a 16-inch outside-diameter tubeless tractor tire. Together, these features provide a practical foundation for robots intended to operate across varied terrain.

Terrain capability still depends on the complete vehicle, including its load distribution, clearance, tires, suspension settings, speed, and surface conditions.

A swerve module drives a wheel and independently controls its steering direction. Coordinating multiple modules allows a suitably designed robot to move forward, sideways, diagonally, or rotate while controlling its chassis orientation.

That flexibility can help a robot align with equipment, approach a work position, or maneuver within a constrained area. The vehicle controller translates the desired chassis motion into wheel speeds and steering angles for each module. Swerve drive kinematics

Suspension adds another capability: allowing the wheel to move vertically relative to the chassis.

Better opportunity to maintain wheel contact

On uneven ground, a rigid chassis can unload a wheel as other wheels encounter raised surfaces or depressions. An unloaded wheel has less traction available, regardless of its motor’s torque.

Suspension allows wheel movement relative to the chassis, helping the drive system accommodate surface changes and maintain useful tire contact within its travel range. The result depends on vehicle geometry, corner loads, tires, suspension setup, and terrain.

More controlled response to bumps

An air spring supports the load, while damping controls suspension motion. A properly tuned system can reduce abrupt chassis movement when a wheel encounters an irregularity.

This can benefit robots carrying electronics, sensors, tools, or other payloads that need a more controlled ride. The amount of isolation depends on the complete installation; suspension does not eliminate vibration or replace suitable payload mounting.

Adjustment for the actual platform

Robots differ in mass, payload distribution, operating speed, and terrain. Adjustable suspension gives the integrator a way to tune the response around those conditions.

Air pressure influences support and ride position. Rebound adjustment controls how quickly the suspension returns after compression. These settings should be established using the intended corner loads and validated through vehicle testing.

The R1 module uses air spring/damper shocks, with the following listed suspension features:

Shock stroke and wheel travel describe different movements: the shock’s compression distance and the wheel’s vertical movement through the suspension geometry.

Wheel travel is also not an obstacle-height rating. Traversability depends on tire geometry, ground clearance, approach conditions, available traction, and the complete vehicle.

The module combines a geared traction hub with an 8-inch rim and 16-inch outside-diameter tubeless tractor tire. Its published base specifications include:

• 350 lb rated capacity per corner.
• Approximately 64 lb module weight.
• 48 V nominal system voltage.
• 1,000 W traction motor power, attributed to the supplier-advertised rating.
• 200 N·m peak traction torque.
• 120 rpm maximum wheel speed at 48 V under light load.

Peak torque and maximum speed represent different operating points. They should not be combined into a promise of simultaneous performance.

Powered steering uses dual 14-bit encoders, CAN communication, and field-oriented control. Coordinating steering and traction remains part of the vehicle’s control-system integration.

Module selection starts with the platform’s intended operating conditions.

Consider loaded vehicle mass, payload position, center of gravity, module spacing, and how corner loads change during turning, braking, and terrain transitions. A per-corner capacity should not be treated as a simple vehicle payload allowance.

Allow clearance for suspension movement, steering, tire sweep, and cable routing. Caster offset changes through suspension travel, so review the geometry across the operating range rather than at one static position.

Reference views and owner-supplied dimension labels. This illustration is not a controlled mounting or swept-envelope drawing.

The supplied ODrive S1 controller also requires careful power-system matching. Although the system is nominally 48 V, battery full-charge and regenerative voltage must remain within the controller’s 50.5 V DC input limit.

The R1 package includes an ODrive S1 drive controller, wiring harness, and control software.

The software provides a local commissioning workbench, C/C++ and Python interfaces, and ROS 2 integration. It is a preview release; application-specific configuration, tuning, and vehicle validation remain part of integration.

Optional inquiries can include a USB-to-CAN configuration adapter and a custom Anderson-to-power-bus cable.

Visit the Suspended Swerve Module catalog page for current specifications, configuration options, and availability.

Include your module count, expected corner loads, terrain, operating speed, battery voltage, control interface, and accessory requirements. R1 will review the application and confirm pricing and lead time.