Optimal design and kinetic analysis of a stairclimbing mobile robot with rockerbogie mechanism. Bogie project gutenberg selfpublishing ebooks read. The rockerbogie 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. Unmanned terrain with rocker bogie suspension mechanical. But this would take half the fun out of skating if you cant grind. Robotic rovers are used extensively for exploratory and reconnaissance purposes in the fields of scientific exploration and defense. As with any suspension system, the tilt stability is limited by the height of the center of gravity. Design and fabrication of rocker bogie mechanism ijsetr. Rocker is also the larger link on both sides of the suspension system. 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. Rocker bogie mechanism mars rover final year mini project final. When the mars exploration rover mer project was first proposed, the use of a rocker bogie.
Skateboards arduino fietsen schaatsen kinderen spelen. The aim of this rocker bogie suspension system project is to develop a surveillance robot for defense which is capable of moving in all surfaces and is capable of driving in rock terrains and live video streamlining with help of a camera. The rockerbogie mobility system was designed to be used at slow speeds. Rover races 3rd 5th grade lesson arizona state university. Rocker bogie mechanism final year mechanical engineering project contact. What are some of the applications, and future scopes of.
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. The project work rocker bogie mechanism geosurvey rover deals with the important aspect of improving the rover from its previous designs. Thank you to all of my friends who have made sure that i learn. Unmanned terrain with rocker bogie suspension mechanical project abstract. Design of rockerbogie 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. British columbia, project number 1076 january 18, 2011. Design analysis of rocker bogie suspension system and. Exploration rover mer project was first proposed, the. Design and kinematic analysis of stair climbing rocker bogie. Optimal design and kinetic analysis of a stairclimbing. I had this toy from zephyr which i used to play so much, pictured below. Design and implementation of a rockerbogie suspension for a mining robot wesley b. 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. Design and fabrication of stair climbing wheelchair with. The geosurvey rover has to operate on rough and harsh. The bogie kit is designed with an awesome rockerbogie suspension making it great for climbi. Design and implementation of a rockerbogie suspension for.
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. First it was introduced for the sojourner mars rover which landed on mars on 1997 and after that for spirit and opportunity rovers belonged to mer mars exploration rover project in 2003 and also for curiosity rover on msl mars science laboratory project in 2012. The robot is based on the rockerbogie mechanism which allows it to climb over obstacles. I didnt even knew that it was called rockerbogie mechanism then. The teams project plan details the project goal, deliverables, schedule, budget, risk mitigation, and. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. When the mars exploration rover mer project was first proposed, the use of a rockerbogie suspension was the obvious choice due to its extensive heritage. Generally a rockerbogie system can lead to uneven wheel loads but. 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 per the actual design, one end of a rocker is jointed with a drive wheel and the other end is pivoted to a bogie which gives required moment and degree of freedom. The challenges of designing the rockerbogie suspension. This linkage from the rocker to the other linkage between the two wheels is known as a bogie hence the name rocker bogie. Pathfinder is the first over explorer in this program. 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. Rocker bogie is a suspension system developed by nasa for its mars rover missions in 1988. Rocker bogie mechanism final year mechanical engineering. The rockerbogie system is the suspension arrangement used in the mars rovers mechanical robot introduced for the mars pathfinder and also used on the mars exploration rover mer and mars science laboratory msl missions. The term rocker describes the rocking aspect of the larger. This mechanism generally used to drive on the irregular paths or roads. Rocker bogie exploration rover automobile project topics. Pdf the project work rocker bogie mechanism geosurvey rover deals with the important aspect of improving the rover from its previous. Streams video to the wvu mars rover ustream site for public viewing. When the mars exploration rover mer project was first proposed, the use of a rocker bogie suspension was the obvious choice due to its extensive heritage.
Control is in the form of a velocity command, that is split then sent on the two steer and the four wheels of a rocker bogie drive configuration. Ijsrd international journal for scientific research. Engineers at nasas jet propulsion laboratory put curiosity, the mars science laboratory rover, through an obstacle course to test its mobility 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. Mars rover rockerbogie differential july 23rd, 2012 pretty printout todays is a guest post, brought to you by my father, engineer, physicist, computer programmer, and lego, mars, and animation enthusiast. Report on rocker bogie mechanism rover project report.
For this years arm, we considered many design solutions to meet the requirements of competition. Mars rover rockerbogie differential alices astro info. A rover is a vehicle for driving over rough terrain, especially one driven by remote control over extraterrestrial terrain. The one based on rockerbogie mechanism and coded in graphical progr. When the mars exploration rover mer project was first proposed, the use of a rockerbogie. 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. Design and analysis of a four wheeled planetary rover. The design allows all 6 wheels to be in contact with the ground as much as possible, increasing traction.
Based on the requirements, the dimension can be varied. The team consists of students from varying disciplines. How to make a stair climbing robot based on rocker bogie. Design of rocker bogie mechanism abhisek verma, chandrajeet yadav, bandana singh, arpit gupta, jaya mishra, abhishek saxena chapter 1 introduction of project 1. International journal for research in applied science. Fitted with skf or timken bearings, it was introduced in the late 1950s for all br mark 1 vehicles. Astro the rover california state university, fullerton. Design and fabrication of rocker bogie mechanism using. With stempedia, turn your home into a projectmaking studio and.
The rockerbogie is the suspension system that enables the rover to climb aggressive obstacles. Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinders sojourner rover. The rocker bogie suspension system, which was specifically designed for space exploration vehicles have deep history embedded in its development. 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. What are the applications of the rocker bogie mechanism. Jpl, a division of caltech, manages the mars science laboratory project for nasas science mission directorate, washington. Ieee transactions on robotics and automation, 2006, pp. On behalf of nasas mars exploration program, this lesson was prepared by arizona state universitys mars education program, under contract to nasas jet propulsion laboratory, a division of the california institute of technology. This project will show you how to make a smartphonecontrolled stairclimbing robot. Rocker bogie exploration rover automobile ieee project topics, design and analysis, thermal engineering base paper ideas, synopsis, abstract, report, figures, full pdf, fabrication, working details for automobile engineering, diploma, btech, be, mtech and msc college students. A project schedule was developed through analysis of the teams capabilities, and the 19week period between project inception and departure for the competition. Exploration rover mer project was first proposed, the use. The main aim of this project is that it overcomes obstacles up to a certain height and up to a certain angle. The rocker arm and bogie are constructed using cpvc pipes after a literature survey about the dimensions to be considered in a rocker bogie system, the following points were selected.
The one based on rocker bogie mechanism and coded in graphical progr. System modelling of rockerbogie mechanism for disaster. 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. Mars rover how to make a stair climbing robot based on. 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. Project report on rocker bogie mechanism rover lecture notes. I somehow invented that mechanism while playing with it n. The rockerbogie design has no springs or stub axles for each wheel. 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 rocker bogie mechanism was designed keeping this in mind by providing maximum stability in all terrains. Exploration rover mer project was first proposed, the use of a rockerbogie suspension was the obvious choice due to its extensive heritage. In our project, we have focused over eight wheeled rockerbogie suspension system.