It has been used in the 2003 mars explor ation rover m ission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. A little project that i was working on a couple days ago. Mar, 2017 rocker bogie mechanism design and fabrication 1. Over the past decade, the rockerbogie suspension design has become a proven mobility application. The rocker bogie suspension mechanism which was currently nasas approved design for wheeled mobile robots, mainly because it had study or resilient capabilities to deal with obstacles and because it uniformly distributes the payload over its 6 wheels at all times. Using velocity relation velocity is calculated for assumed speed. Suspension to absorb shocks between the bogie frame and the rail vehicle body. 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. 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. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, 1 2 3 and which has since become nasas favored design for rovers.
Rocker bogie suspension has following disadvantages. A novel active deform and wheellegged suspension of mars. The challenges of designing the rockerbogie suspension. 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. New design, mostly similar to rockerbogie suspension system, has a natural. 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. This element of the design was the result of deliberate decisions by the faculty mentors, based on both educational outcomes and competitiveness.
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. Suspension systems must support both road holdinghandling and ride quality, which are at odds with each other. Design an active reconfigured suspension based on traditional rocker bogie suspension, it can stand up autonomously, wheellegged move and lift wheel up. Design analysis of rocker bogie suspension system and access. The design has a mechanism that can traverse terrains where the left and. Rockerbogie suspension, extremely uneven roads, rover, mechanical design. 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. It uses a suspension system that has 6 wheel with provide great stability. This can be of inside frame type where the main frame and bearings are between the wheels, or more commonly of outside frame type where the main frame and bearings are outside the wheels. Design and implementation of a rockerbogie suspension for a.
Design analysis of rocker bogie suspension sy stem and access the possibility to doi. Although, most of the books named hoeken mechanism 7, 49, 50. Cable rub and light scratch marks and some imperfections in the finish. Also another target is to climb any surface at an angle of 45 to achieve the above targets we had design the rocker bogie model by assuming stair height 150 mm and length 370 mm. Powerful gearmotors driving six hightraction rubber tires gives the bogie amazing climbing capabilities. Design and analysis of a four wheeled planetary rover. With nearly 5 inches of ground clearance and 5 inches of flex this little bot is so much fun to drive. 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. At each end of the bogie is a drive wheel and the bogie is connected to the rocker with a free pivoting joint. Finally, a simulation of a small robot using rocker bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.
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 suspension system is how the wheels are connected to and interact with the rover body. All the mars rovers have six wheels and use a rocker bogie suspension system to drive smoothly over bumpy ground. Rocker bogie suspension 2 rocker arms2 bogies middle wheel slippage low vertical travel abilities.
The first design type i have looked was a sixwheeled, rocker bogie suspension. This bogie can resist mechanical failures caused by. Rocker bogie suspension with frc components 3d cad model. Jul 21, 2015 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. Rocker bogie suspension has all the qualities needed for traversing the extremely uneven surfaces. Analysis method of climbing stairs with the rockerbogie. While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design. The suspension mechanism of the rover was designed using a rockerbogie mechanism. What are the reasons behind using rocker bogie suspensions. The two rockers in blue are connected to each other and the vehicle chassis through a bevel gear differential. The rover, developed to compete in the mars societys university rover. Each cad and any associated text, image or data is in no way sponsored by or affiliated with any company, organization or realworld item, product, or good it may purport to portray. Note that the title of the book is in lower case letters and italicized. The rockerbogie suspension is proposed to solve that problem.
Rocker bogie suspension system 3d cad model library. An advanced spiderlike rockerbogie suspension system for. This configuration is useful to ensure that all the wheels of the robot originally six remain in contact with irregular grounds in unstructured environments. To fit the requirements mentioned in the introduction, this model. Optimal design and kinetic analysis of a stairclimbing. A mobile robot is an autonomous system capable of traversing a terrain with natural or artificial obstacles. 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. 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 commonwealth bogie, manufactured by the english steel corporation under licence from the commonwealth steel company in illinois, usa.
Suspension is the system of tires, tire air, springs, shock absorbers and linkages that connects a vehicle to its wheels and allows relative motion between the two. Design and implementation of a rockerbogie suspension for. New design, mostly similar to rockerbogie suspension system, has a. The rocker bogie suspension mechanism which was currently nasas approved design for. Based on the rockerbogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. Traction control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Principle the rockerbogie design consisting of no springs and stub. Pivots and fox rp23 with boostvale that has been reworked by suspension experts. The rocker bogie suspension system passively keeps all six wheels on the robot in contact with the ground even on uneven surfaces.
The bogie kit is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. Most of the rover designs have been developed for mars and moon surface in. There is one rocker bogie assembly on each side of the rover. 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. Experimental analysis of climbing stairs with the rocker. What are the disadvantages of the rocker bogie suspension. Feb 17, 2016 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. The rocker bogi e system is the suspens ion arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas fa vored d esign for rovers. This suspension system, introduced with the original mars pathfinder project, is the same design preferred by nasa for nearly. The bogie kit is designed with an awesome rocker bogie suspension making it great for climbing over tough obstacles. General vehicles can travel on urban roads and highways. Suspension is divided into nonindependent suspension and independent suspension. With nearly 5 of ground clearance and 5 of flex this little bot is so much fun to drive.
At high speeds it experiences head on collision of wheels with obstacles. The challenges of designing the rocker bogie suspension for. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. This paper will describe how the mer rocker bogie suspension subsystem was able to meet. The core of the mechanism is a planetary gear train, its transmission ratio is obtained by optimizing suspension. Design and kinematic analysis of stair climbing rocker bogie. This 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.
Its most remarkable advantage is its obstacle climbing capability. 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. The bogie runt rover is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. A novel active suspension of mars rover based on sixwheeled rocker bogie suspension is proposed and the design is given from the 2d modularization concept. But they cannot travel on rough roads or extremely uneven roads. Over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability. Pdf design analysis of rocker bogie suspension system and. You can get 50 woodworking plans and a 440page the art of woodworking book. These two kinds of suspensions are widely used in general vehicles. The proposed suspension not only can operate as same as normal sixwheeled rocker bogie suspension, but also provides active foldunfold ability on the platform, great wheellegged passing ability in soft terrain and steep slopes. Challenges of designing the rocker bogie suspension for the mars exploration rover, proceedings of the 37th aerospace mechanisms symposium, johnson space center, may 1921, 2004. Full text of the challenges of designing the rockerbogie. Fitted with skf or timken bearings, it was introduced in the late 1950s for all br mark 1 vehicles.
The rockerbogie system is the suspension arrangement used in the mars rovers mechanical robot for. Design and optimization of a mars rovers rockerbogie mechanism. 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. Lets have a look at some of its remarkable qualities. New design, mostly similar to rocker bogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during. To start with, a general design for the rocker bogie suspension system hereafter referred to as suspension system needed to be selected. Design and fabrication of unmanned terrain vehicle ijert. This paper describes the working of the system design for the mars rover. Device for exhausting the air springs of vehicle pneumatic mechanical suspension.
The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. The 8wheeled rover combines the rocker bogie mechanism with four rocker wheels and four spiderleg wheels. Mars rover rockerbogie differential alices astro info. Design and fea based vibration characteristic analysis of. 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. Rockerbogie news newspapers books scholar jstor march 2019 learn how and when to remove this template message. Rocker bogie calculations manufactured goods mechanical. Bogies are subassemblies of wheels that can have a pitch angle with respect to the frame. Using calculated velocity value need to find out diameter of wheel is 95. 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. This paper focuses on the drive mechanism of the rover design. Design and terramechanics analysis of a mars rover. 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. This would cause an impulsive force to act on front wheels.
Jun 22, 2011 converting a roomba into a mars rover. Let me tell you about the time i designed a moon rover. 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 of a rocker bogie with spherical wheel insertion. The rocker bogie system is the suspension arrangement used in mars rovers introduced for mars pathfinder and also used on mars exploration rover mer and mars science laboratory msl missions. The rocker bogies are easy to see in pictures of the rovers see pictures below.
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. As with any suspension system, the tilt stability is limited by the height of the center of gravity. Based on the rocker bogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. 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 for. 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. Sep 19, 20 an analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. We aim to introduce the mechanism of the rocker bogie or the rover as a suspension mechanism of normal vehicles. 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 1,2.
Present day mars rover suspension systems use six wheels but require more than eight motors to drive them. The suspension ramps up well with consistently smooth resistance making the 5. Bogie project gutenberg selfpublishing ebooks read. System modelling of rockerbogie mechanism for disaster. Design and implementation of miniature of rocker bogie. Over the past decade, the rockerbogie suspension design. The rockerbogie design has no springs or stub axles for each wheel, allowing the rover to climb over. Design analysis of rocker bogie suspension system and access the possibility to implement. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory. The complete design features a bioinspired eightwheeled drive mechanism, an integrated robotic arm along with a stereo vision technique for advanced image processing. Rocker bogie last updated january 07, 2020 a rocker bogie in motion incorrectly shows chassis staying level. The book is structured in an easy and logical way that identifies the best steering and suspension designs.
Dark rover rockerbogie optimization design ubc library open. Rocker bogie suspension system sherif farrag december 1, 2015 robot mechanics 1 the human body is a complex integration of intelligent parts in an intelligent way. The main advantage of this mechanism is no suspension required, and total loads are distributed equally over all wheels. Rocker bogie mechanism mars rover final year mini project final. Standard rocker bogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. Index of patents issued from the united states patent. 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. Traction control for a rockerbogie robot with wheelground. 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 mechanism was designed keeping this in mind by providing maximum stability in all terrains. Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinder s sojourner rover.
Design analysis of rocker bogie suspension system and. List of design patentees 1033 list of plant patentees list of disclaimers. The idea is to replace the normal vehicle chassis with that of the rocker bogie followed by. To guarantee that basic proportions were kept, servocitys bogie runt rover 4 was used as a model. Dec 01, 2015 rocker bogie suspension system sherif farrag december 1, 2015 robot mechanics 1 the human body is a complex integration of intelligent parts in an intelligent way. Suspension arrangement used in the mars rovers and patented by nasa bickler, 1988.
A more detailed description of the design is given in 10. The book competition car suspension is an excellent, well written manual that describes the design evolution of vehicle suspension and steering systems. Ijsrd international journal for scientific research. This paper proposes a new dynamic rocker bogie suspension system with two modes of operation. Introduction mobile robots and description of rover.