•
• The front and back wheels have individual drives for
INTRODUCTION
The Rocker-Bogie design has no springs and stub axle
for each wheel, allowing the rover to climb over obstacles, such as
rocks, that are up to twice the wheel’s diameter in size while keeping all
six wheels on the ground. As with any suspension system, the tilt
stability is limited by the height of the center of gravity. Systems using
springs tend to tip more easily as the loaded side yields. The system is
designed to be used at slow speeds of around 10 cm/s, so as to minimize
dynamic shocks and consequential damage to the vehicle when
surmounting sizable obstacles. The Rocker-Bogie system has been the
suspension arrangement used in the Mars rovers. It is currently NASA’s
favored design.
The term “rocker” comes from the rocking aspect of the
larger links on each side of the suspension system. These rockers are
connected to each other and the vehicle chassis through a differential.
Relative to the chassis, when one rocker goes up, the other goes down.
The chassis maintains the average pitch angle of both rockers. One end
of a rocker is fitted with a drive wheel and the other end is pivoted to a
bogie. The term “bogie” refers to the links that have a drive wheel at
each end.
Fig 1.1: Example of a Rocker-Bogie
System
MATERIALS USED.
BODY FRAME.
Body frame is made up of CPVC pipe of 1 inch diameter. For
connecting the joints we have used 45 and 90 degree elbows. And also
T joints are used. For attaching body clamps are used.
TIRES
Dia of 10cm and width of 4cm
MOTORS
climbing enabling the rover to traverse obstacles without
slip.
• The design is simple and reliable.
DISADVANTAGES
 You need to be very calculative.
 Climbing wont be smooth if size of your bot is not adjust
according to the stairs.
6 no of 100 rpm motor with 12 kg torque.
ARM AND BRUSH CONCLUSION
An analysis of the conditions for the rocker bogies to
climb up stairs was discussed in this paper. With certain lengths of the
linkages and radii of the wheels, a kinematic analysis was performed
when the rocker bogies climbs up the stairs. The center of mass of the
rocker bogies was considered and the situation where three wheels
simultaneously contact the front sides of the stair was analyzed. By
using two analyses, the possibility of climbing up the stair was
determined with the lengths and heights. This prototype is used to climb
the stairs and clean the stairs with brushes attached to the arm.
The arm is made up of plastic pipes of 1/4th inch pipe.
For steps cleaning purpose we have used sponge brush which is
connected to the motor for rotating the brush. For floor drying purpose
we have used cpu fans as a blower.
WORKING
As per the research it is find that the rocker bogie system
reduces the motion by compared to the other suspension systems
because each of the bogies have 6 wheels has an independent
mechanism for motion and in which the 2 front and 2 rear or back
wheels have individual steering systems that allows the vehicle to turn
in place as zero degree turning ratio.
Each wheel also has thick cleats which allow the grip for
climbing in smooth sand and scrambling over the rocks with ease. In
that way it overcomes the vertical obstacle faces, and the front wheels
are forced against to the obstacle by the middle and back wheels which
generate maximum required torque. The rotation of the front wheel lifts
the front of the vehicle up and over the obstacle and obstacle overtaken.
Those wheels which remain in the middle, is then pressed against the
obstacle by the rear wheels and pulled against the obstacle by the front
till the time it is lifted up and over.
APPLICATIONS
 Mobile robots can be used in several
applications,dangerous area operations
such as,
 (nuclear plants), planetary exploration and
pipe investigation,extreme temperature
and
 Narrow field investigation(pyramid
exploration robots)more over, floor
cleaning.
 Robots and servant robots are common
examples for indoor use.
 It is not a dream that,in near future robots
will be a part of our daily life.
ADVANTAGES
• This mechanism allows climbing obstacles twice the size
of the wheel diameter.
• Does not employ springs and stub axels.
• Equal distribution of load on all the wheel.
• Independent movement of rocker on either sides of the
bogie.