Unmanned terrain with rocker bogie suspension mechanical project abstract. 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. Full text of the challenges of designing the rockerbogie. A mobile robot is an autonomous system capable of traversing a terrain with natural or artificial obstacles. Pdf dynamic rockerbogie a stability enhancement for. Most of the rover designs have been developed for mars and moon. This element of the design was the result of deliberate decisions by the faculty mentors, based on both educational outcomes and competitiveness. An advanced spiderlike rockerbogie suspension system for. New design, mostly similar to rocker bogie suspension system, has a natural advantage. It also utilizes a differential system consisting of a beveled geared shaft with a 1. The suspension design used in this mechanism offers vehicle stability. In manual controller mode the dc motors are not operated from rf. Mar, 2017 rocker bogie mechanism design and fabrication 1. Bogies are subassemblies of wheels that can have a pitch angle with respect to the frame.
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. Bogie project gutenberg selfpublishing ebooks read. Systems using springs tend to tip more easily as the loaded side. 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. Design and implementation of miniature of rocker bogie. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory. The challenges of designing the rockerbogie suspension for the. Rocker bogie suspension 3d cad model library grabcad. Design and manufacture of an adaptive suspension system a major qualifying project report submitted to the faculty of worcester polytechnic institute this report represents the work of wpi undergraduate students submitted to the faculty as evidence of completion of a degree requirement. Fitted with skf or timken bearings, it was introduced in the late 1950s for all br mark 1 vehicles. Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinder s sojourner rover. The rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability. Lets have a look at some of its remarkable qualities. 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.
As with any suspension system, the tilt stability is limited by the height of the centre of gravity. Jul 21, 2015 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. A method for kinematics modeling of a sixwheel rocker bogie mobile robot is described in. Robotic rovers are used extensively for exploratory and reconnaissance purposes in the fields of scientific exploration and defense. Rocker bogie suspension with frc components 3d cad model. Mars exploration rover mobility assembly design, test, and. The suspension system on a typical consumer vehicle can traverse obstacles about. This system allows for better maneuverability both during motion and in place. Railway technology today 5 edited by kanji wako how bogies work isao okamoto role of bogie railcar bogies usually go unnoticed by rail passengers, but despite their obscurity, they are very important in safe railway operations and perform the following functions. The project work rocker bogie mechanism geosurvey rover deals with the important aspect of improving the rover from its previous designs. Astro the rover california state university, fullerton. A rover is a vehicle for driving over rough terrain, especially one driven by remote control over extraterrestrial terrain.
How the wheels move perseverance uses a similar rocker bogie suspension system that was also used on the mars science laboratory, mars exploration rovers, and pathfinder rover missions. Rocker bogie calculations free download as powerpoint presentation. Design and fabrication of stair climbing wheelchair with. Suspension is divided into nonindependent suspension and independent suspension. Optimal design and kinetic analysis of a stairclimbing mobile robot with rocker bogie mechanism author links open overlay panel dongmok kim a heeseung hong a hwa soo kim b jongwon kim a show more. The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. Its most remarkable advantage is its obstacle climbing capability. Design and kinematic analysis of stair climbing rocker bogie. Current mobility designs are complex, using many wheels or legs. This paper focuses on the drive mechanism of the rover design. Powerful gearmotors driving six hightraction rubber tires gives the bogie amazing climbing capabilities. At high speeds it experiences head on collision of wheels with obstacles. 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.
The intelligently designed wheel suspension allows the vehicle to traverse over very uneven or rough terrain and even climb over obstacles. As with any suspension system, the tilt stability is limited by. Testing will expose oversights in designs such as in this case where the nonlinear stiffness of the mechanism was underestimated and resulted in a latch. Improving the performances of a simpler four wheel rover has also been explored 8. Nasa has developed this suspension system in a series of the project called rocky. Mars rover rockerbogie differential alices astro info. Design of rocker bogie suspension system 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. Rocker bogie suspension has following disadvantages. The rocker bogie 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.
To fit the requirements mentioned in the introduction, this model. Good and simple suspension setup that doesnt take up many bodies, but is extremely effective. Harrington and chris voorliees abstract over tlie past decade, tlie rocl bogie suspension design has become a proven mobility application known for its superior vehicle. The main difference between the miscellaneous designs of planetary robots lies in. Design and analysis of a four wheeled planetary rover. Suspension arrangement used in the mars rovers and patented by nasa bickler, 1988. The primary mechanical feature of the rocker bogie design is its drive train simplicity, which is accomplished by using only two motors for mobility. Unmanned terrain with rocker bogie suspension mechanical. The rocker bogies are easy to see in pictures of the rovers see pictures below. Over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability. Testing will expose oversights in designs such as in this case where the non linear stiffness of the mechanism was underestimated and resulted in a latch.
The main difference between the miscellaneous designs of planetary robots lies in the type of. The rocker bogie suspension system from last year remains relatively the same from last year. The challaenge 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 progress from the. The challenges of designing the rockerbogie suspension for. In order to mimic the suspension capabilities of the rovers sent to mars by nasa, our rover will incorporate the same rocker bogie suspension system utilized by the mars rovers to traverse an extreme desertlike terrain. Axle box suspensions absorb shocks between the axle bearings and the bogie frame. The complete design features a bioinspired eightwheeled drive mechanism, an integrated robotic arm along with a stereo vision technique for advanced image processing. Bogie design steps layout calculations layout drawing interface with carbody gauge, wheel base and wheel dia customer. These two kinds of suspensions are widely used in general vehicles. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. Design and implementation of a rockerbogie suspension for a. The system, which employs neither axles nor springs, remains stable because each wheel can move up and down independently. But they cannot travel on rough roads or extremely uneven roads. Rocker bogie ppt rover space exploration spaceflight.
Low power mobility system for micro planetary rover micro5. The rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. The technical challenges pushed the systems design towards extensive integration of function, which resulted in complex system engineering issues. 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. There is one rocker bogie assembly on each side of the rover. 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. The main advantage of this mechanism is no suspension required, and total loads are distributed equally over all wheels. Optimal design and kinetic analysis of a stairclimbing. The design of the suspension system for the wheels is based on heritage from the rocker bogie system on the pathfinder and mars exploration rover missions.
Pdf design analysis of rocker bogie suspension system and. Mars science laboratory telecommunications system design pdf. Simple car controls, if you know how to drive a car with wasd, youll be fine. What are the disadvantages of the rocker bogie suspension. T railway technology today 5 edited by kanji wako how. Curiosity sports the same rocker bogie suspension system that carried previous mars rovers sojourner, spirit and opportunity over hill and martian dale. So we had an idea of inventing a wheel chair with rocker bogie mechanism. 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. The 8wheeled rover combines the rocker bogie mechanism with four rocker wheels and four spiderleg wheels. One design characteristic that was important is that each side of the suspension can be placed on the other side without alteration. The suspension system is how the wheels are connected to and interact with the rover body. They are open to mechanical failure caused by the harsh environment on mars. Rocker bogie are important for conducting insitu scientific analysis of objectives that are separated by many meters to tens of kilometers.
Design principles a bogie is a structure underneath a railway vehicle body to which axles and wheels are attached through bearings. 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. Design analysis of rocker bogie suspension system and access. The rovers ability to traverse the mars terrain with its combination of rocks, craters, soft soils, and hills was verified, and the system design validated. Design and analysis of a four wheeled planetary rover a thesis submitted to the graduate faculty in partial ful. 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. Rocker bogie suspension traction control slip ratio l. 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. Rocker bogie suspension has all the qualities needed for traversing the extremely uneven surfaces. How to download and read offroad suspension design.
Standard rocker bogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. The rocker bogie suspension finds its first application in mars exploration rover project. The rocker bogie design has no springsand 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. This paper proposes a new dynamic rocker bogie suspension system with two modes of operation.
Deployment process, mechanization, and testing for the. Analysis method of climbing stairs with the rockerbogie. Ijsrd international journal for scientific research. General vehicles can travel on urban roads and highways. With nearly 5 of ground clearance and 5 of flex this little bot is so much fun to drive. Ride and handling of baja buggies book is terrific and hot reading currently. The motors are located inside the body where thermal variation is kept to a minimum, increasing efficiency and reliability.
Design and manufacture of an adaptive suspension system. Harrington and chris voorhees abstract over the past decade, the rocker bogie suspension design has become a proven mobility application. Feb 17, 2016 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. What are some of the applications, and future scopes of. The suspension system is how the wheels are connected to the rest of the rover and control how the rover interacts when the martian terrain. Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinders sojourner rover. The design has a mechanism that can traverse terrains. Design analysis of rocker bogie suspension system and.
The rocker bogie is the suspension system that enables the rover to climb aggressive obstacles. The suspension has a rocker bogie design capable of a 90 degree departure and approach. What are the reasons behind using rocker bogie suspensions. The rocker bogie mechanism is a six wheel standard design which acts as the suspension. Full text of the challenges of designing the rocker bogie suspension for the mars exploration rover see other formats the challenges of designing the rocker bogie suspension for the mars exploration rover brian d. The rockerbogie suspension mechanism its currently nasas favored design for wheeled mobile robots, mainly because it has robust capabilities to deal with obstacles and because it uniformly distributes the payload over its 6 wheels at all times.
Rocker bogie calculations manufactured goods mechanical. The axle box suspension usually consists of a spring between the bogie frame and axle bearings to permit upanddown movement, and sliders to prevent lateral movement. As with any suspension system, the tilt stability is limited by the height of the center of gravity. Sep 19, 20 an analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. The details of the design, test, and performance of the mobility assembly are shown to exceed the mission requirements. Design and implementation of a rockerbogie suspension for. The bogie runt rover is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. New design, mostly similar to rockerbogie suspension system, has a natural advantage.
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. In the available published works, the rocker bogie configuration is modeled as a planar system. The jet propulsion laboratory states that this rocker bogie system reduces the motion of the main mer vehicle body by half compared to other suspension systems. A simulation and analysis of grousers generated suitable designs for interaction with similar ledges and rough terrain. A four wheeled rover capable of traversing rough terrain using an efficient high degree of mobility suspension. The design allows all 6 wheels to be in contact with the ground as much as possible, increasing traction. New design, mostly similar to rockerbogie suspension system, has a. All the mars rovers have six wheels and use a rocker bogie suspension system to drive smoothly over bumpy ground.
Design and optimization of a mars rovers rockerbogie mechanism. For this years arm, we considered many design solutions to meet the requirements of competition. System modelling of rockerbogie mechanism for disaster. To design a mechanism that can traverse terrains where the left and right rockers. To guarantee that basic proportions were kept, servocitys bogie runt rover 4 was used as a model. Over the past decade, the rockerbogie suspension design has become a. Design and fabrication of rocker bogie mechanism introduction the rocker bogie suspension system was rst used for the mars rover and is. Support railcar body firmly run stably on both straight and curved track. The rockerbogie suspension based rovers has been successfully introduced for. The chassis design is an octagon shape with an aluminum tubing frame which reduces weight and prevents wheel or suspension interference. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels. The challenges of designing the rockerbogie suspension. The rocker bogie suspension is proposed to solve that problem.
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. A little project that i was working on a couple days ago. To start with, a general design for the rocker bogie suspension system hereafter referred to as suspension system needed to be selected. One motor mounted to the wheels is responsible for the linear movement and the other is responsible for the steering.