This linkage from the rocker to the other linkage between the two wheels is known as a bogie hence the name rocker bogie. A rocker bogie mechanism is a vehicle in which the mechanisms balance the bogie at different ground conditions. The project work rocker bogie mechanism geosurvey rover deals with the important aspect of improving the rover from its previous designs. How to make a mars rover rocker bogie robot youtube.
The chassis plays vital role to maintain the average pitch angle of both rockers. The term bogie refers to the links that have a drive wheel at each end. Design and fabrication of rocker bogie mechanism ijsetr. Over the past decade, the rockerbogie suspension design has. System modelling of rockerbogie mechanism for disaster relief.
It can move along any surface be it sand, rocks, concrete, or grass as it has suspension arrangments. Analysis method of climbing stairs with the rockerbogie. To verify whether the rocker bogie, with certain lengths of the linkages and radii of the wheels, could climb up a target stair or not, a kinematic analysis and its posture are determined. Microsoft expression encoder ds solidworks 2014 click here to access some documents for reference. Pdf design of all terrain vehicle using rocker bogie mechanism iaeme publication academia. The challenges of designing the rockerbogie suspension. By design it is a wheel robot which comprises of 6 motorized wheels. Design of wheel chair with rocker bogie mechanism the determination of dimension of rocker and bogie linkages is the key factor in manufacturing of rocker bogie mechanism. Also another target is to climb any surface at an angle of 45 to achieve the above targets we had design the rockerbogie model by assuming stair height 150 mm and length 370 mm. Report on rocker bogie mechanism rover project report.
Rocker bogie ppt rover space exploration spaceflight. Pdf rocker bogie are important for conducting insitu scientific analysis of objectives that are separated by many meters to tens of kilometers. System modelling of rockerbogie mechanism for disaster. The rockerbogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to highspeed traversal over the planar terrain. Optimal design and kinetic analysis of a stairclimbing mobile robot with rockerbogie mechanism. Rocker bogie suspension with frc components 3d cad model. Optimal design and kinetic analysis of a stairclimbing. In addition, all 6 wheels are able to turn at least 180 degrees allowing for the bot to.
The need to develop a highly stable suspension system capable of operating in multi terrain surfaces while keeping all the wheels in contact with the ground. The challenges of designing the rocker bogie suspension. The ancient fido rover and the sojourner contain 6 independently steered and driven wheels suspended from a rockerbogie mechanism for maximum suspension and ground clearance. Author links open overlay panel dongmok kim a heeseung hong a hwa soo kim b jongwon kim a. Both applications now prefer trailing arm suspensions. The term rocker describes the rocking aspect of the larger links present each side of the suspension system and balance the bogie as these rockers are. Introduction mobile robots and description of rover. Department of mechanical engineering, skcet, coimbatore. A bogie is a train undercarriage with six wheels that can swivel to curve along a track.
Schaus university of north carolina at charlottegeorgia institute of technology abstract as their capstone senior design experience, students from the william states lee college of. The term rocker comes from the design of the differential, which keeps the rover body balanced, enabling it to rock up or. The rocker bogie suspension is a mechanism that, along with a differential, enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain see figure 1. The rocker bogie mechanism was designed keeping this in mind by providing maximum stability in all terrains. Pdf the project work rocker bogie mechanism geosurvey rover deals with the important aspect of improving the rover from its previous. Rocker bogie mechanism the mechanism of the rover is based on a 6 wheeled rocker bogie suspension system. This is a rocker bogie suspension much like the ones found on mars rovers that balances itself using a combination of a differential in the center and two pivoting bogies, or bars with wheels on either end. Current mobility designs are complex, using many wheels or legs. The chassis maintains the average pitch angle of both rockers. The main advantage of this mechanism is no suspension required, and total loads are distributed equally over all wheels. The landmine detection robot is constructed using the rocker and bogie suspension mechanism.
Review on rover with rockerbogie linkage mounted with. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. The bogie kit is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. Rockers bogie mechanism is generally used by space research companies for space exploration. Each of these will attach using a bracket connected to the servo to allow for the wrist actuation of each mechanism.
Robots using rocker bogie mechanism make use of a suspension mechanism that consists of several rigid elements connected through joints of a certain number of degrees of freedom dof resulting in a structure that has one system dof. Thus we study the design and fabrication of the rocker bogie mechanism by fabrication of this rough terrain vehicle using concepts of the bogie mechanism. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels. Design and analysis of a four wheeled planetary rover. The rockerbogie mechanism consists of rocker that attached to a frame and a bogie that connects to rocker link with pivot joint as shown in figure 1. It is not so easy to see and understand how the rockerbogie mechanism keeps the body level. The main aim of this project is that it overcomes obstacles up to a certain height and up to a certain angle.
The rockerbogie design consisting of no springs and stub axles in each wheel which allows the chassis to climb over any obstacles. A mobile robot is an autonomous system capable of traversing a terrain with natural or artificial obstacles. What are the disadvantages of the rocker bogie suspension. The chassis plays vital role to maintain the average pitch angle of both rockers by allowing both rockers to move as per the situation. How to make a stair climbing robot based on rocker bogie. Department of mechanical engineering design and fabrication of rocker bogie mechanism by dinesh cm 211414114087 giridharan ts 211414114100 hanirooth c 211414114115 harish t 211414114123 under the guidance ofunder the guidance of drdr. An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. Stair climbing robot works on the concept of the rockerbogie mechanism. Based on the requirements, the dimension can be varied. The rocker bogie design has no springs or stub axles for each wheel, allowing the rover to climb over obstacles, such as rocks, that are up to twice the wheels diameter in size while keeping all six wheels on the ground. The front wheel of the robot hits the obstacle real hard and as the friction of the wheels is more, it lets the. Rocker bogie ppt free download as powerpoint presentation. Pdf design and fabrication of stair climbing wheelchair.
The east coast of malaysia faced a massive flood from heavy downpour, leading to huge flood damage and caused irreparable loss to life and property. Design and implementation of a rockerbogie suspension for a mining robot wesley b. Mars rover rockerbogie differential alices astro info. This paper proposes a new dynamic rockerbogie suspension system with two modes of operation. Similarly, if a stair is lower than 50 mm in its height, it is too an easy task for the rocker bogie mechanism, which makes an analysis equally meaningless. The rocker bogie mechanism helps the vehicle to move in almost all terrains like desert, snow, rough. Now days it has application in various fields like. Rocker bogie are important for conducting insitu scientific analysis of objectives that are separated by many meters to tens of kilometers. New design, mostly similar to rockerbogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during. Bogie mechanism anubhav kumar 12001004009 nitin verma 12001004037. Astro the rover california state university, fullerton. Rocker bogie suspension has following disadvantages. Download pdf of report on rocker bogie mechanism rover project report offline reading, offline notes, free download in app, engineering class handwritten notes, exam notes, previous year questions, pdf free download. At high speeds it experiences head on collision of wheels with obstacles.
The mobility design at present is quite a bit complex with many legs or wheels. Design and fabrication of rocker bogie mechanism using. The rocker bogie allows the chassis of the rover to average its pitch overall wheel deflections while still maintaining load equalization on all wheels and avoiding. They are open to mechanical failure caused by the harsh environment on mars. The mechanism consists of a pair of rigid linkages on either side of the chassis attached to each. Design and optimization of a mars rovers rockerbogie mechanism. To design a mechanism that can traverse terrains where the left and right rockers. Design and implementation of a rockerbogie suspension for. Pdf design and fabrication of stair climbing wheelchair with rocker bogie mechanism iosr journals academia. The rocker bogie mechanism is one of the most popular suspension mechanisms, which was initially designed for space travel vehicles having its own deep history embedded in its development. The rockerbogie design has no springs or stub axles for each wheel, allowing the rover to climb over obstacles, such as rocks, that are up to twice the wheels diameter in size while keeping all six wheels on the ground. Learn how to make a stair climbing robot thats run on uneven path its also called mars curiosity rover. The rockerbogie suspension is a mechanism that, along with a differential, enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain see figure 1. One end of a rocker is fitted with a drive wheel and the other end is pivoted to a bogie.
A four wheeled rover capable of traversing rough terrain using an efficient high degree of mobility suspension. International journal for research in applied science. Design and fabrication of stair climbing wheelchair with. The rocker bogie mechanism can overcome a step more easily than a stair, and therefore analyzing a stair which is longer than 500 mm is meaningless. Design analysis of rocker bogie suspension system and. The main linkage called the rocker has two joints, one affixed to an axel forming the differential mechanism and the other connected to the remaining two wheels.
The robot can climb onto any obstacles stairs, bumps, etc. Leftside of rover rocker bogie assembly the rocker bogie suspension is a mechanism that, along with a differential, enables the vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain. Robots using rocker bogie mechanism makes use of a suspension mechanism that consists of several rigid elements. This would cause an impulsive force to act on front wheels. The rockerbogie suspension is a mechanism that, along with a differential, enables a sixwheeledvehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain. The mechanism allows the rover to traverse different kinds of terrains like rocks, sand and fine dust. What prevents the rover body from tipping all the way forward or backward around the rocker pivots. Design and fea based vibration characteristic analysis of.
1120 512 192 1259 705 599 765 674 1428 1517 1544 383 175 5 1025 1312 437 613 693 1457 1191 1557 202 1474 86 858 629 243 82 574 238 1176 1575 1463 17 387 1415 1411 1163 1169 1241 1473 226