New Concept-Based Six-Wheels Rocker-Bogie Robot: Design and analysis

Abstract

In the last decay, various missions have conducted to explore the science behind the space phenomenon. An autonomous robot is essential for space exploration, such as Moon, Mars, and Saturn. This robot-like rover plays a vital role in collecting data and sample on the planet’s unplanned surface. This paper presents the necessary kinematic and dynamic stability of rocker-bogie on an uneven surface. The concept of a designed rocker-bogie robot ensures a new technique for optimum stability conditions of rocker-bogie and self-adaptability using a link mechanism during high-speed mode operation. It consists of a two-mode operations system with six wheels. The rocker-bogie wheels are aligned with the bar link mechanism. The two-mode operation system mechanism of rocker-bogie is simulated. Further on, the prototype of rocker-bogie is designed and fabricated by considering optimum fittest data from the simulation. The performance evaluation of the developed prototype and results is then compared with simulation aiming to strengthen vehicle stability. The newness of this present investigation are: - (i) the improvement of travel rate of rocker-bogie in case of planner surface by switching the front span from its original configure, (ii) dynamical suspension having two operational, (iii) expansion of supported polygon for increasing the travel rate in case of plane terrain, (iv) self-switching to its original configuration at low speed while it faces rough terrain.