Rocker-bogie Mechanism Research Articles

Design and Fabrication of Rocker Bogie Mechanism

The rocker-bogie suspension mechanism its currently NASAs one of the favourite design for wheeled mobile robots, mainly because it has multipurpose capabilities to deal with different types of surface and obstacles because it uniformly distributes the overall weight over its 6 wheels at all times. That's why it has many advantages when dealing with obstacles, there is one of the disadvantage is its low average speed of operation, the rocker bogie system generally not suitable for situations where high-speed operations for which to cover large surfaces Areas. mainly due to stability problems. Our purpose is to increase the stability of the rocker-bogie mechanism system by expanding its support design structure, making it more stable and flexible while moving at high speed, at different surfaces but keeping its original flexibility against obstacles. Most of the flexibility of this method can be achieved without any mechanical modification to existing designs only a change in control strategy. Some mechanical changes are required to Achieve the maximum Advantages and to increase the rover operations speed in future. We will develop a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and climbing over them. The Rocker-Bogie Mechanism system was designed to be used at slow speeds. It is capable of overcoming obstacles that are depends upon the size of a wheel.

Land Mine Detection Using Rocker Bogie System

The rover is a space device designed to move across the surface of celestial bodies. The rocker bogie is a robot that can travel in any kind of surfaces and is very popular suspension system. Its mechanism is to maintain stability. The main use of rocker bogie is that it can travel in rough terrains which can maintain balance and stability. This paper presents ESP 32 based prototype that can be implemented at low cost and with more efficiency. The main challenge in working of this robot is its stabilization and balance. This rocker bogie mechanism makes the robot an All-Terrain vehicle and a versatile robot that can be used for many applications. The metal detector that is mounted on the rocker bogie is used to find landmines. The signal which received from metal detector directly sends to GPS. The GPS modem thus navigate latitude and longitudinal coordinates and send the location of landmine as a pop to the mobile phone by using a blink application. The experimental results give how the landmine is detected using metal detector and location is sent to the user.

Proposal of Dynamic Motion Utilizing Physical Elasticity in Rocker-Bogie Mechanism

Proposal of Dynamic Motion Utilizing Physical Elasticity in Rocker-Bogie Mechanism

Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover

Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover

Design and Concept of Rocker-Bogie Suspension for a Planetary Rover Prototype

In light of the notable rocker-bogie mechanism, this paper shows an ideal plan of a rocker-bogie suspension framework so as to ensure high mobile steadiness as well as excellent versatility of a prototype rover vehicle while traversing through rough terrains. It is essentially a suspension arrangement utilized in mechanical automated vehicles utilized explicitly for space investigation. The rocker-bogie suspension-based rovers have been effectively presented for the Mars Pathfinder and Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions led by zenith space investigation laboratories all through the world. The proposed suspension framework is presently the most supported structure for each space investigation organization. It is basically a mechanism which comprises of two arms with wheel mounted to each and the two arms are associated through a versatile joint. The current development in design has been studied as well as a different approach towards designing the basic structure of suspension has been done. It has been further verified using various static and dynamic load calculations, solid modelling computer aided design software and simulation software for analysis and testing.

Static structural analysis of wheel chair using a rocker bogie mechanism

Technology has developed to far greater heights than ever before resulting in many lives being dependent on them. One such case is the physically disabled people. The motion of physically disabled people who required support for moving on different terrains can be made independent with the help of a wheel chair using a rocker bogie mechanism. Rocker boogie mechanism is a suspension system that can climb obstacles having size twice the diameter of the wheel and also is less complicated compared to other suspension systems. Commercial finite element code, ANSYS is used to analyze the wheel chair using rocker bogie mechanism. Static structural analysis is performed and the parameters like hydrostatic pressure, total deformation, and normal stress is analyzed. The parameters are found to be within the acceptable limits and the design is found to be feasible.

A Study on Rocker-Bogie Suspension for a Planetary Rover Prototype

In light of the notable rocker-bogie mechanism, this paper shows an ideal plan of a rocker-bogie suspension framework so as to ensure high mobile steadiness as well as excellent versatility of a prototype rover vehicle while traversing through rough terrains. It is essentially a suspension arrangement utilized in mechanical automated vehicles utilized explicitly for space investigation. The rocker-bogie suspension-based rovers have been effectively presented for the Mars Pathfinder and Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions led by zenith space investigation laboratories all through the world. The proposed suspension framework is presently the most supported structure for each space investigation organization. It is basically a mechanism which comprises of two arms with wheel mounted to each and the two arms are associated through a versatile joint. The current development in design has been studied as well as a different approach towards designing the basic structure of suspension has been done. It has been further verified using various static and dynamic load calculations, solid modelling computer aided design software and simulation software for analysis and testing.

Trajectory Control and Sensitivity Analysis of Curiosity Rover on Uneven Terrains

In this paper, the six-wheel lunar rover is simulated in Adams/View software environment and then via co-simulation between adams and matlab/simulink with which a path-following controller is designed and implemented on the rocker-bogie mechanism. The proposed algorithm consists of three parts. First, the inverse kinematic equations are used to transform the trajectory into appropriate desired values. Second, a sliding mode controller (SMC) is designed which used the desired values to control the motion of the robot. Moreover, disturbances are taken into consideration to minimize the lateral error. In order to investigate the proposed integrated algorithm, the analysis of rover traversability on the uneven surface of the moon is performed in two different states, namely by considering the motion restrictions of the rocker-bogie mechanisms and by increasing the rover speed, body yaw angle, and also obstacle height in crossing the rough terrain. Investigation of the rover in different states has given insight on the performance of the proposed controller at limits of mobility of the robot. Finally, to reduce the battery energy consumption, input torques proportional to the load on the wheels are produced. The values of the deviations from the desired path and velocity in all the mentioned analyses indicate the effectiveness of the SMC.

Intelligent Deployable Mini Rover from the Mars Rover for Deep Narrow Scientific Investigation

The paper describes various issues faced by mini rover deployed from main rover in an alien environment and the ways to solve them. The rover features a rocker bogie mechanism with differential drive, collision free distance sensing, wireless XBee control and camera Vision. The rover features a flexible segmented body with a multipurpose arm, corresponding multi wheel mechanism and Kinect module integration for advanced image processing. The system control, for both the Rover as well the robotic arm integrated with it, is done using feasible yet extremely efficient microcontrollers and microprocessors such as Arduino, Raspberry pi etc. Inspired from nature, a reflex mechanism has also been integrated into the rover design to minimize damage, by automated safety reflexes. The six wheeled rocker bogie mechanism ensures that it can traverse over a considerable height greater than the chassis height which could be as much as twice the diameter of the wheels. The rocker bogie mechanism provides traction due to its body weight. The rover finds applications in the exploration of other planets and harsh environments. Such an effort may even prove to be instrumental in detection and study of biological activity in worlds other than ours.

Development of Robot for 3D Measurement of Forest Environment

This paper describes the development of a robot that can move through a forest environment and automatically generates three-dimensional (3D) digital maps. We designed and constructed the robot, equipping it with a rocker-bogie mechanism composed of six drive wheels and four steering motors. This mechanics enables the robot to move damaging a forest as little as possible while negotiating the obstacle in it. This robot is equipped with a 3D light detection and ranging sensor, and it uses the normal distributions transform algorithm to construct 3D digital maps. We tested the generation of a 3D digital map of 50 m2of a sloped forest environment and verified the generated map by comparing it with a map constructed manually by engineers. The comparison revealed an error of less than 0.15 m.

Analysis method of climbing stairs with the rocker-bogie mechanism

An analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. 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. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels contact the front side of the stair is analyzed. With this two analyses, the stair climbability graph (SCG) determined with the length and the height of a stair was drawn. The SCG shows the climbable stair group for the rocker bogie with certain size. Two prototypes of rocker bogie which has different lengths of linkages were designed and tested on two different stairs. As same result of the SCG, the first prototype rocker bogie with small rocker linkage can climb up the stair (length 450 mm and height 150 mm) but cannot climb up the other stair (length 300 mm and height 175 mm). The second prototype rocker bogie with large rocker linkage can climb up both stairs.

Contact angle estimation and composite locomotive strategy of a stair-climbing mobile platform

This paper presents a stair-climbing mobile platform built on the Rocker–Bogie mechanism which enables to effectively climb up/down various sizes of stairs in indoor environments without violating its mobile stability. First, the link parameters of Rocker–Bogie mechanism are optimally chosen via the Taguchi method in order to make the trajectory of its center of mass (CM) as smooth as possible, which implies high mobile stability as well as excellent adaptability during climbing up/down stairs. Based on this optimization result, the proposed mobile platform is compactly and lightly constructed suitable for indoor applications by placing all motors and sensors inside the hollow links in order to prevent undesired interferences with stairs as well as to protect themselves from external impact. A simple, robust and cost-effective estimation algorithm is proposed to detect the contact angles between wheels and a stair with high fidelity. Through the kinematic and kinetic analysis combined with the wheel-stair contact angle information, a composite locomotive strategy is established not only to minimize the slip during climbing up a stair but also to prevent falling down during climbing down a stair. The extensive experiments against various types of stairs successfully demonstrate the capability of the proposed mobile platform to effectively and safely climb up/down stairs.

Optimal design of hand-carrying rocker-bogie mechanism for stair climbing

Transporting heavy packages while climbing stairs can be a very difficult or dangerous task. In situations where this task is frequently required such as construction sites, workers would use equipment such as a back rack for convenience, but still it becomes a difficult task as the weight increases. In this paper, we propose a stair climbing hand-carrying cart based on the rocker-bogie mechanism. We conduct an optimal design of the kinematic variables of the rocker-bogie mechanism for stable stair climbing using Taguchi methodology. Fluctuations and a tilted angle during stair climbing are considered to formulate the objective function. Three different shapes of typical stairs are selected as user conditions to determine a robust optimal solution. The results are verified by experiments using a testing set-up of three stair profiles, and the experimental results are compared with simulation. We expect that the results of this research can be applied to stair climbing robot design.

1A2-H07 8車輪型移動ロボットの受動式走行機構(車輪型/クローラ型移動ロボット(2))

This paper describes the mechanism of the eight-wheeled mobile robot to move on the uneven ground. The robot has the mechanism composed of the Rocker-bogie mechanism, the parallel linkage mechanism and the differential mechanism. It can move on the uneven ground by the operation of the wheels. We developed the robot model of the size of 1/5. The experimental results of the robot model have its mobility on the uneven ground, but the results showed some problem of the mechanism. Based on the results, we designed the full-size improved robot model.

Optimal design and kinetic analysis of a stair-climbing mobile robot with rocker-bogie mechanism

Based on the well-known rocker-bogie mechanism, this paper first presents an optimal design of a wheel-type mobile robot in order to ensure high mobile stability as well as excellent adaptability while climbing stairs. As an optimization tool, the Taguchi method is adopted due to its simplicity and cost-effectiveness both in formulating an objective function and in satisfying multiple constraints simultaneously. The sensitivity analysis with respect to design parameters is carried out to provide an insight to their effects on the performance criterion under kinematic constraints which are imposed to avoid undesired interferences between a mobile robot and stairs. To evaluate the climbing capability of the optimized rocker-bogie mechanism, the friction requirement metric is chosen, which is defined as a minimum friction coefficient required for a mobile robot to climb a stair without slip. Through a kinetic analysis of a stair-climbing motion, a locomotive strategy suitable for the proposed rocker-bogie mechanism is derived to minimize slip while climbing a stair and successfully verified through extensive simulations.

1P1-K09 8車輪型移動ロボットの移動機構(車輪型/クローラ型移動ロボット)

This paper describes the mechanism of the eight-wheeled mobile robot to move on the uneven ground. The robot has the mechanism composed of the Rocker-bogie mechanism, the parallel linkage mechanism and the differential gears. It can move on the uneven ground by the operation of the wheels. We developed the robot model of the size of 1/5. The basic experimental results of this model show its mobility on the uneven ground.

2P2-A17 月面探査ローバの移動機構の検討(宇宙ロボティクス・メカトロニクス)

This paper describes the lunar exploration rover model. In Japan the development of the rover to explore the surface of the moon is planned to get its detailed information. We developed the mechanical model of the lunar exploration rover with the crawlers and the suspensions, similar to the Rocker-bogie mechanism. The basic experimental results show its mobility on the uneven ground.