Rocker-Bogie Research Papers - Academia.edu (original) (raw)
1Professor, Dept. of Mechanical Engineering, Vishwakarma Institute of Technology, Pune, Maharashtra, India 2-6Student, Dept. of Mechanical Engineering, Vishwakarma Institute of Technology, Pune, Maharashtra, India... more
1Professor, Dept. of Mechanical Engineering, Vishwakarma Institute of Technology, Pune, Maharashtra, India 2-6Student, Dept. of Mechanical Engineering, Vishwakarma Institute of Technology, Pune, Maharashtra, India -------------------------------------------------------------------------***-----------------------------------------------------------------------Abstract Most of the inventions you use in your daily life were first developed for the defenses. The epitome of technology of a country is usually based on its defense systems. Therefore, we would be highly honored if we could step into this field. In this paper our aim was to develop a vehicle which could give the Bofors gun mobility, in course versatility in discharging of the weapon. We designed the vehicle using the rocker bogie suspension system while improving its capabilities to suit our purpose. The problem which we have tried to solve was that Bofors guns were very tedious to be carried to different places and rocky te...
The rocker-bogie suspension system has robust capabilities to deal with uneven terrain because of it's distributing the payload over its six wheels uniformly. Most of the cover designs have been developed for Mars and Moon surface in... more
The rocker-bogie suspension system has robust capabilities to deal with uneven terrain because of it's distributing the payload over its six wheels uniformly. Most of the cover designs have been developed for Mars and Moon surface in order to understand the geological history of the soil and rocks. Exploration operations need high speed and long distance traversal in a short mission period due to environmental effects, climate and communication restrictions In this research, a new suspension mechanism has been designed and its kinematic analysis results were discussed. One of the major shortcomings of current Rocker-Bogie rovers is that they are slow. In our project, we have focused on six-wheeled rocker bogie suspension system design which has advantage of linear bogie motion in protecting the whole system from getting rollovers during high-speed operations. This has greatly increased the reliability of structure on rough terrains and also enables its higher speed exploration with same obstacle height capacity as twice the diameter of wheel. The project aims to improve some basic working so that it can perform in a better way.
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. To design a mechanism that can traverse terrains where the left and right... more
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. To
design a mechanism that can traverse terrains where the left and right rockers
individually climb different obstacles. To sustain a tilt of over 50degree without
tipping over the sideways .Rocker bogie are important for conducting scientific
analysis of objectives that are separated by many meters to tens of kilometers. Current
mobility designs are complex, using many wheels or legs. They are open to
mechanical failure caused by the harsh environment on Mars. A six wheeled rover
capable of traversing rough terrain using an efficient high degree of mobility
suspension system. Six motors are located inside the body where thermal variation is
kept to a minimum, increasing reliability and efficiency. Six wheels are used because
there are few obstacles on natural terrain that require both front wheels of the rover
to climb simultaneously. A series of mobility experiments in the agriculture land,
rough roads, inclined, stairs and obstacles surfaces concluded that rocker bogie can
achieve some distance traverses on field.
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. To design a mechanism that can traverse terrains where the left and right... more
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. To
design a mechanism that can traverse terrains where the left and right rockers
individually climb different obstacles. To sustain a tilt of over 50degree without
tipping over the sideways .Rocker bogie are important for conducting scientific
analysis of objectives that are separated by many meters to tens of kilometers. Current
mobility designs are complex, using many wheels or legs. They are open to
mechanical failure caused by the harsh environment on Mars. A six wheeled rover
capable of traversing rough terrain using an efficient high degree of mobility
suspension system. Six motors are located inside the body where thermal variation is
kept to a minimum, increasing reliability and efficiency. Six wheels are used because
there are few obstacles on natural terrain that require both front wheels of the rover
to climb simultaneously. A series of mobility experiments in the agriculture land,
rough roads, inclined, stairs and obstacles surfaces concluded that rocker bogie can
achieve some distance traverses on field.
The need to develop a highly stable suspension system capable of operating in multi terrains surface while keeping all the wheels in contact with the ground. The design has a mechanism that can transvers terrain where the left and right... more
The need to develop a highly stable suspension system capable of operating in multi terrains surface while keeping all the wheels in contact with the ground. The design has a mechanism that can transvers terrain where the left and right rockers individually climb different obstacle. In order to go an obstacles, the front wheels are forced against the obstacles by the rear wheels. The paper emphasizes and focuses about the " Area under surveillance " continuously at extreme conditions like very low temperature ,high attitude pressure, unique color, low power supply, long range distance coverage and manually controlled weapon system which insure the safety. In the modal, the device consist a cameras as a sensor for the purpose of monitoring the area under surveillance and sending images to the screen .If the area under surveillance is occupied by unknown person, then a camera capture the image and forward to the screen. This model continuously monitors the "Area under surveillance". The motive of this project to build a ground surveillance rover with reliable mechanism for security and surveillance.
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. To design a mechanism that can traverse terrains where the left and right... more
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. To
design a mechanism that can traverse terrains where the left and right rockers
individually climb different obstacles. To sustain a tilt of over 50degree without
tipping over the sideways .Rocker bogie are important for conducting scientific
analysis of objectives that are separated by many meters to tens of kilometers. Current
mobility designs are complex, using many wheels or legs. They are open to
mechanical failure caused by the harsh environment on Mars. A six wheeled rover
capable of traversing rough terrain using an efficient high degree of mobility
suspension system. Six motors are located inside the body where thermal variation is
kept to a minimum, increasing reliability and efficiency. Six wheels are used because
there are few obstacles on natural terrain that require both front wheels of the rover
to climb simultaneously. A series of mobility experiments in the agriculture land,
rough roads, inclined, stairs and obstacles surfaces concluded that rocker bogie can
achieve some distance traverses on field.
This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It... more
This paper describes the design and 3d print of an explorer robot with suspension rocker-bogie which is based in the robots sent into space. Also, it describes of software to acquire the image in real time and the control of robot. It should be noted that space exploration has been a feature of governments for many years. Nowadays there are companies that can transport loads to space; There are also companies that have made great advances in robotics and manufacturing.These technological advances can help in space exploration, either by making robots lighter and easier to manufacture or even by creating pieces and tools from space. K EYWORDS
Proyecto final presentado para la materia Robótica del Instituto Tecnológico Metropolitano, en el programa de Mecatrónica. This project shows the making of a Rocker-Bogie mechanism named by us as " Mars Ripper ". It is a semi-automatic... more
Proyecto final presentado para la materia Robótica del Instituto Tecnológico Metropolitano, en el programa de Mecatrónica.
This project shows the making of a Rocker-Bogie mechanism named by us as " Mars Ripper ". It is a semi-automatic mobile robot with 6 wheels being a nonholonomic system. Each wheel has it's own energy source (DC motor) working altogether to move as needed. It is mainly used for planet explorations projects , such as mars missions, because of it's freedom of movement on steep fields. We show the analysis for both inverse and forward kinematics, a simulation of the robot in a manually designed field, the materials needed for an assembly, and components' price.
Most of the inventions you use in your daily life were first developed for the defenses. The epitome of technology of a country is usually based on its defense systems. Therefore, we would be highly honored if we could step into this... more
Most of the inventions you use in your daily life were first developed for the defenses. The epitome of technology of a country is usually based on its defense systems. Therefore, we would be highly honored if we could step into this field. In this paper our aim was to develop a vehicle which could give the Bofors gun mobility, in course versatility in discharging of the weapon. We designed the vehicle using the rocker bogie suspension system while improving its capabilities to suit our purpose. The problem which we have tried to solve was that Bofors guns were very tedious to be carried to different places and rocky terrain. The guns are also unable to fire while in a rocky terrain. This improved movement of the guns will help the gunmen to fire while being in extreme geographical conditions. Our design also can be adapted into an unmanned vehicle, which the world is trying to pursue in the future.
The rocker-bogie mobility system is a six-wheeled mobility system with the ability to equilibrate ground pressure amongst its wheels and traverse obstacles up to one wheel diameter in height; it has been used previously on NASA's... more
The rocker-bogie mobility system is a six-wheeled mobility system with the ability to equilibrate ground pressure amongst its wheels and traverse obstacles up to one wheel diameter in height; it has been used previously on NASA's Sojourner, Spirit, Opportunity and Curiosity rovers. This paper presents the mechanical design of an instrumented rocker-bogie mobility system for Kapvik, a 30 kg planetary micro-rover prototype developed for the Canadian Space Agency. The design of the wheel drive system is presented, including: motor selection, gear train selection, and performance limits. The design of a differential mechanism, which minimizes the pitch angle of the rover body, is provided. Design considerations for the integration of single-axis force sensors above the wheel hubs are presented. Structural analysis of the rocker and bogie links is outlined. The cross-hill and uphill-downhill static stability of Kapvik is investigated. Load cell and joint position data from testing during obstacle negotiation and uphill operation are presented.
The rocker bogie suspension system has all the tough capabilities so that it can work in rough terrain because of its weight distributing property on all its 12 wheels. The only disadvantage of the mechanism is that its speed is slow. In... more
The rocker bogie suspension system has all the tough capabilities so that it can work in rough terrain because of its weight distributing property on all its 12 wheels. The only disadvantage of the mechanism is that its speed is slow. In this project during research we have deeply focused on the 12 wheels mechanism & its design which has certain advantages of linear bogie motion in defending the whole system or assembly from getting disengaged and rollover during working in high speed operations. This has magnificently increased the chances of dependability of structure on uneven surface & also its high speed examination with hurdle height capacity as double the diameter of the wheels .The requirement to develop a highly steady suspension system capable of operating in multi terrain surfaces while keeping all the wheels in contact with the ground. To design a machine that can navigate terrains where the left and right rockers independently climb different obstacles.