Rovers with Rocker-Bogie Mechanisms: A review of progress and innovations in design, manufacturing, and control

Abstract

Rovers equipped with Rocker-Bogie mechanisms have emerged as pivotal assets in the domains of interplanetary and terrain exploration. To carry out scientific investigations, Rovers have undergone significant advancements. This review comprehensively examines the progress and innovations associated with the design, manufacturing, and control of these robotic systems. The Rocker-Bogie Mechanism and its kinematic variations available are identified and discussed. Given the importance of kinematic studies, viewpoints on wheel-terrain interaction and framework models for analyses are presented. A key limitation in the analyzed papers was the restriction of choice of design process to the conventional method for which, an approach to design through a Generative Design algorithm has been indicated. The studies indicated the material choice of Titanium and other alloys, the manufacturing choice of Additive Manufacturing which has been analyzed, for which suggestions for advancements and alternatives are highlighted. It was observed that a standard and general procedure to automate the operations of the rovers is still lacking. This review can provide a guide for new advancements in Rocker-Bogie-based rovers.