The main ones are bogie design principle parameters, guiding suspension, primary spring and damping principles that are. The main aim of this project is that it overcomes obstacles up to a certain height and up to a certain angle. Current mobility designs are complex, using many wheels or legs. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory. Design analysis of rocker bogie suspension system and access. The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. The primary mechanical feature of the rocker bogie design is its drive train simplicity, which is accomplished by using only two motors for mobility. Rocker bogie are important for conducting insitu scientific analysis of objectives that are separated by many meters to tens of kilometers. The design allows all 6 wheels to be in contact with the ground as much as possible, increasing traction.
Design of rockerbogie mechanism abhisek verma, chandrajeet yadav, bandana singh, arpit gupta, jaya mishra, abhishek saxena chapter 1 introduction of project 1. In order to ensure that the task is successfully achieved, it is a key issue to design and optimize the suspension system of allterrain mobile robots. The challenges of designing the rockerbogie suspension for the mars exploration rover brian d. The challenges of designing the rockerbogie suspension for. Design optimization of a mars rovers rockerbogie mechanism using genetic algorithms. Harrington and chris voorhees abstract over the past decade, the rockerbogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability i,2.
The taguchi method is chosen as an optimization tool to make the trajectory of cm close to the straight line while all wheels keep in contact with the ground during climbing stairs. The robot can climb onto any obstacles stairs, bumps, etc. 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. The rockerbogies are easy to see in pictures of the rovers see pictures below. The bogie kit is designed with an awesome rocker bogie suspension making it great for climbi. The perfectly designed wheel suspension allows the vehicle to travel over very uneven or rough terrain and even proceed over obstacles. The rockers are connected to the main body with a differential so that the pitch angle of the body is the average of the pitch angles of the rockers.
The bogie kit is designed with an awesome rockerbogie suspension making it great for climbi. An improved formulation for optimizing rockerbogie. For this years arm, we considered many design solutions to meet the requirements of competition. The rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. Rockerbogie based rovers are likely candidates for these missions see figure 1. Design and fabrication of rocker bogie mechanism using solar.
The suspension system on a typical consumer vehicle can traverse obstacles about half the height of one wheel. But this would take half the fun out of skating if you cant grind. 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. One motor mounted to the wheels is responsible for the linear movement and the other is responsible for the steering. Rocker bogie suspension has following disadvantages.
Caf miira provides installations fitted with the most. Rocker bogie calculations manufactured goods mechanical. It can move along any surface be it sand, rocks, concrete, or grass as it has suspension arrangments. Stair climbing robot works on the concept of the rockerbogie mechanism. Pdf design analysis of rocker bogie suspension system and. Microsoft expression encoder ds solidworks 2014 click here to access some documents for reference. The rocker bogie mechanism was designed keeping this in mind by providing maximum stability in all terrains. The rocker bogie mechanism is a six wheel standard design which acts as the suspension. The challenge posed by mer was to design a lightweight rocker bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to egress from the lander and explore the martian surface as proposed by b.
While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design. The ancient fido rover and the sojourner contain 6 independently steered and driven wheels suspended from a rocker bogie mechanism for maximum suspension and ground clearance. Design and fabrication of rocker bogie mechanism using. The rocker bogie 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. 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 a low oscillation frequency. 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. To fit the requirements mentioned in the introduction, this model. 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. 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. To start with, a general design for the rocker bogie suspension system hereafter referred to as suspension system needed to be selected. Report on rocker bogie mechanism rover project report pdf. Mar, 2017 rocker bogie mechanism design and fabrication 1.
All the mars rovers have six wheels and use a rockerbogie suspension system to drive smoothly over bumpy ground. A four wheeled rover capable of traversing rough terrain using an efficient high degree of mobility suspension system. The rockerbogie design has no springs and 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 term rocker comes from the design of the differential, which keeps the rover body balanced, enabling it to rock up or down depending on the various positions of the multiple wheels. New design, mostly related to rocker bogie suspension system, has a inbuilt advantage with linear bogie motion which protects the whole system from getting rolled over. Astro the rover california state university, fullerton.
Apr 12, 2018 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 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. The term rocker comes from the design of the differential, which keeps the rover body balanced, enabling it to rock up or. This element of the design was the result of deliberate decisions by the faculty mentors, based on both educational outcomes and competitiveness. System modelling of rockerbogie mechanism for disaster relief. The rockerbogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers. At high speeds it experiences head on collision of wheels with obstacles. As with any suspension system, the tilt stability is limited by the height of the center of gravity. May 31, 2019 stair climbing robot works on the concept of the rocker bogie mechanism.
The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. Based on the rocker bogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. The primary mechanical feature of the rocker bogiedesign is its drive train simplicity, which is accomplished by using only two motors for mobility. Fourwheel rocker bogie structure and its operating principle a rocker bogie 1 according to an embodiment of the present invention is shown in figs. Harrington and chris voorhees abstract over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability i,2. Design of rocker bogie mechanism abhisek verma, chandrajeet yadav, bandana singh, arpit gupta, jaya mishra, abhishek saxena chapter 1 introduction of project 1. The rocker bogie design has no springs or stub axles for each wheel, allowing the rover to climb over obstacles, such as rocks, that is up to twice the wheels diameter in size while keeping all. The rockerbogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. 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 rockerbogie design has no springs or stub axles for each wheel, allowing the rover to climb over obstacles, such as rocks, that is up to twice the wheels diameter in size while keeping all. Optimal design and kinetic analysis of a stairclimbing. How to make a stair climbing robot based on rocker bogie.
They are open to mechanical failure caused by the harsh environment on mars. But this would take half the fun out of skating if. To guarantee that basic proportions were kept, servocitys bogie runt rover 4 was used as a model. Based on the rockerbogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. Introduction the rockerbogie suspension system was initially used for the mars rover and is currently nasas preferred design for rover wheel suspension. Bogie designs today, very different bogie design principles are applied. This linkage from the rocker to the other linkage between the two wheels is known as a bogie hence the name rocker bogie. Mar 30, 2016 rocker bogie suspension system design. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. Analysis method of climbing stairs with the rockerbogie.
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. Design and fabrication of stair climbing wheelchair with. Design and implementation of a rockerbogie suspension for. A bogie is a train undercarriage with six wheels that can swivel to curve along a track. A four wheeled rover capable of traversing rough terrain using an efficient high degree of mobility suspension. Design analysis of rocker bogie suspension system and. Design analysis of rocker bogie suspension system and access the possibility to implement in front loading vehicles. Design and analysis of a four wheeled planetary rover. The challenge posed by mer was to design a lightweight rockerbogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to egress from the lander and explore the martian surface as proposed by b. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers. Present day mars rover suspension systems use six wheels but require more than eight motors to drive them.
Apr 23, 2014 rocker bogie mechanism softwares used. The team consists of students from varying disciplines including. A more detailed description of the design is given in 10. The main focus of this chapter are the bogie features that are directly or indirectly related to the axlebox application.
The challenges of designing the rockerbogie suspension. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. In this paper, we focus on the development and design of mechanical system on land that took consideration the features of water vehicle. T railway technology today 5 edited by kanji wako how. Proceedings from 10th australian space science conference, sydney nsw, australia, 2011, pp. Mars rover rockerbogie differential alices astro info. 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.
There is one rockerbogie assembly on each side of the rover. What are the disadvantages of the rocker bogie suspension system. Design and implementation of a rockerbogie suspension for a. A new type of vehicle design named rocker bogie and later nicknamed rocky, which has a free.
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