The commonwealth bogie, manufactured by the english steel corporation under licence from the commonwealth steel company in illinois, usa. Suspension is divided into nonindependent suspension and independent suspension. The rockerbogie suspension is proposed to solve that problem. Suspension arrangement used in the mars rovers and patented by nasa bickler, 1988. It has been used in the 2003 mars explor ation rover m ission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. Rockerbogie news newspapers books scholar jstor march 2019 learn how and when to remove this template message. The suspension system is how the wheels are connected to and interact with the rover body. 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. Rocker bogie suspension with frc components 3d cad model.
Based on the rocker bogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. Full text of the challenges of designing the rockerbogie. A novel active suspension of mars rover based on sixwheeled rocker bogie suspension is proposed and the design is given from the 2d modularization concept. Rocker bogie suspension system sherif farrag december 1, 2015 robot mechanics 1 the human body is a complex integration of intelligent parts in an intelligent way. List of design patentees 1033 list of plant patentees list of disclaimers. Traction control for a rockerbogie robot with wheelground. Experimental analysis of climbing stairs with the rocker. The 8wheeled rover combines the rocker bogie mechanism with four rocker wheels and four spiderleg wheels. Pivots and fox rp23 with boostvale that has been reworked by suspension experts. The rocker bogie suspension mechanism which was currently nasas approved design for. Each cad and any associated text, image or data is in no way sponsored by or affiliated with any company, organization or realworld item, product, or good it may purport to portray. An advanced spiderlike rockerbogie suspension system for.
The challenge posed by mer was to design a lightweight rocker bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the. With nearly 5 of ground clearance and 5 of flex this little bot is so much fun to drive. Lets have a look at some of its remarkable qualities. Rocker bogie suspension has following disadvantages. 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. Bogies are subassemblies of wheels that can have a pitch angle with respect to the frame. Although, most of the books named hoeken mechanism 7, 49, 50. Index of patents issued from the united states patent. This configuration is useful to ensure that all the wheels of the robot originally six remain in contact with irregular grounds in unstructured environments.
Jun 22, 2011 converting a roomba into a mars rover. General vehicles can travel on urban roads and highways. Dark rover rockerbogie optimization design ubc library open. The suspension ramps up well with consistently smooth resistance making the 5. Design analysis of rocker bogie suspension sy stem and access the possibility to doi. The proposed suspension not only can operate as same as normal sixwheeled rocker bogie suspension, but also provides active foldunfold ability on the platform, great wheellegged passing ability in soft terrain and steep slopes.
What are the reasons behind using rocker bogie suspensions. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory. Design and implementation of miniature of rocker bogie. This paper proposes a new dynamic rocker bogie suspension system with two modes of operation. The ancient fido rover and the sojourner contain 6 independently steered and driven wheels suspended from a rocker bogie mechanism for maximum suspension and ground clearance. The book is structured in an easy and logical way that identifies the best steering and suspension designs. A novel active deform and wheellegged suspension of mars. Note that the title of the book is in lower case letters and italicized. Design and terramechanics analysis of a mars rover. Bogie project gutenberg selfpublishing ebooks read. The rockerbogie system is the suspension arrangement used in the mars rovers mechanical robot for.
The jet propulsion laboratory states that this rocker bogie system reduces the motion of the main mer vehicle body by half compared to other suspension systems. Fitted with skf or timken bearings, it was introduced in the late 1950s for all br mark 1 vehicles. Design of a rocker bogie with spherical wheel insertion. The first design type i have looked was a sixwheeled, rocker bogie suspension. The rocker bogie 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.
At each end of the bogie is a drive wheel and the bogie is connected to the rocker with a free pivoting joint. Traction control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Design and fea based vibration characteristic analysis of. As with any suspension system, the tilt stability is limited by the height of the center of gravity. Introduction mobile robots and description of rover. To start with, a general design for the rocker bogie suspension system hereafter referred to as suspension system needed to be selected. A little project that i was working on a couple days ago. Design analysis of rocker bogie suspension system and access the possibility to implement. What are the disadvantages of the rocker bogie suspension. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. The challaenge posed by mer was to design a lightweight rocker bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to progress from the.
The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. A more detailed description of the design is given in 10. Standard rocker bogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. Rocker bogie suspension system 3d cad model library. Optimal design and kinetic analysis of a stairclimbing. 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. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. Design and optimization of a mars rovers rockerbogie mechanism. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. This paper will describe how the mer rocker bogie suspension subsystem was able to meet. The core of the mechanism is a planetary gear train, its transmission ratio is obtained by optimizing suspension. The bogie kit is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. Over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability. Rocker bogie suspension 2 rocker arms2 bogies middle wheel slippage low vertical travel abilities.
The rocker bogie system is the suspension arrangement used in mars rovers introduced for mars pathfinder and also used on mars exploration rover mer and mars science laboratory msl missions. Mar, 2017 rocker bogie mechanism design and fabrication 1. Design analysis of rocker bogie suspension system and. Harrington and chris voorliees abstract over tlie past decade, tlie rocl bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1,2.
This can be of inside frame type where the main frame and bearings are between the wheels, or more commonly of outside frame type where the main frame and bearings are outside the wheels. The challenges of designing the rockerbogie suspension. The idea is to replace the normal vehicle chassis with that of the rocker bogie followed by. The book competition car suspension is an excellent, well written manual that describes the design evolution of vehicle suspension and steering systems. The rocker bogie suspension is proposed to solve that problem. In order to mimic the suspension capabilities of the rovers sent to mars by nasa, our rover will incorporate the same rocker bogie suspension system utilized by the mars rovers to traverse an extreme desertlike terrain. The two rockers in blue are connected to each other and the vehicle chassis through a bevel gear differential. The complete design features a bioinspired eightwheeled drive mechanism, an integrated robotic arm along with a stereo vision technique for advanced image processing. This suspension system, introduced with the original mars pathfinder project, is the same design preferred by nasa for nearly. The challenges of designing the rockerbogie suspension for. The bogie runt rover is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. Based on the rockerbogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. Design and analysis of a four wheeled planetary rover. These two kinds of suspensions are widely used in general vehicles.
Present day mars rover suspension systems use six wheels but require more than eight motors to drive them. All the mars rovers have six wheels and use a rocker bogie suspension system to drive smoothly over bumpy ground. System modelling of rockerbogie mechanism for disaster. The rocker bogie mechanism was designed keeping this in mind by providing maximum stability in all terrains. To design a mechanism that can traverse terrains where the left and right rockers. Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinder s sojourner rover. Finally, a simulation of a small robot using rocker bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch. The design has a mechanism that can traverse terrains where the left and. Rockerbogie suspension, extremely uneven roads, rover, mechanical design. The main advantage of this mechanism is no suspension required, and total loads are distributed equally over all wheels. At high speeds it experiences head on collision of wheels with obstacles.
New design, mostly similar to rockerbogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during. Cable rub and light scratch marks and some imperfections in the finish. Rocker bogie mechanism mars rover final year mini project final. Design and fabrication of unmanned terrain vehicle ijert. Let me tell you about the time i designed a moon rover.
This is a rocker bogie suspension much like the ones found on mars rovers that balances itself using a combination of a differential in the center and two pivoting bogies, or bars with wheels on either end. The rockerbogie design has no springs or 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. The rocker bogi e system is the suspens ion arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas fa vored d esign for rovers. Pdf design analysis of rocker bogie suspension system and. Rocker bogie suspension has all the qualities needed for traversing the extremely uneven surfaces. While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design. Design and implementation of a rockerbogie suspension for a. The challenges of designing the rocker bogie suspension for. Using velocity relation velocity is calculated for assumed speed. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels. Suspension systems must support both road holdinghandling and ride quality, which are at odds with each other. Suspension is the system of tires, tire air, springs, shock absorbers and linkages that connects a vehicle to its wheels and allows relative motion between the two. This paper describes the working of the system design for the mars rover.
The rocker bogie suspension system passively keeps all six wheels on the robot in contact with the ground even on uneven surfaces. Design and kinematic analysis of stair climbing rocker bogie. The rocker bogie 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. Feb 17, 2016 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. This suspension is a mechanism that, along with a differential, enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain. The design of the suspension system for the wheels is based on heritage from the rocker bogie system on the pathfinder and mars exploration rover missions. New design, mostly similar to rockerbogie suspension system, has a. The rockerbogie design has no springs or 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. You can get 50 woodworking plans and a 440page the art of woodworking book. New design, mostly similar to rocker bogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during. This bogie can resist mechanical failures caused by.
Design analysis of rocker bogie suspension system and access. This would cause an impulsive force to act on front wheels. Also another target is to climb any surface at an angle of 45 to achieve the above targets we had design the rocker bogie model by assuming stair height 150 mm and length 370 mm. Principle the rockerbogie design consisting of no springs and stub. Powerful gearmotors driving six hightraction rubber tires gives the bogie amazing climbing capabilities. The rocker bogies are easy to see in pictures of the rovers see pictures below. The taguchi method is chosen as an optimization tool to make the trajectory of cm close to the straight line while all wheels keep in contact with the ground during climbing stairs. Over the past decade, the rockerbogie suspension design.
But they cannot travel on rough roads or extremely uneven roads. Design an active reconfigured suspension based on traditional rocker bogie suspension, it can stand up autonomously, wheellegged move and lift wheel up. Jul 21, 2015 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. Rocker bogie calculations manufactured goods mechanical. The rockerbogie design has no springs or stub axles for each wheel, allowing the rover to climb over. With nearly 5 inches of ground clearance and 5 inches of flex this little bot is so much fun to drive. The suspension mechanism of the rover was designed using a rockerbogie mechanism. Most of the rover designs have been developed for mars and moon surface in. Analysis method of climbing stairs with the rockerbogie. Its most remarkable advantage is its obstacle climbing capability. There is one rocker bogie assembly on each side of the rover. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, 1 2 3 and which has since become nasas favored design for rovers.
To fit the requirements mentioned in the introduction, this model. A mobile robot is an autonomous system capable of traversing a terrain with natural or artificial obstacles. Dec 01, 2015 rocker bogie suspension system sherif farrag december 1, 2015 robot mechanics 1 the human body is a complex integration of intelligent parts in an intelligent way. Rocker bogie last updated january 07, 2020 a rocker bogie in motion incorrectly shows chassis staying level. New design, mostly similar to rockerbogie suspension system, has a natural. The need to develop a highly stable suspension system capable of operating in multi terrain surfaces while keeping all the wheels in contact with the ground.
Over the past decade, the rockerbogie suspension design has become a proven mobility application. The rockers are connected to the main body with a differential so that the pitch angle of the body is the average of the pitch angles of the rockers. Device for exhausting the air springs of vehicle pneumatic mechanical suspension. This paper focuses on the drive mechanism of the rover design.
The rover, developed to compete in the mars societys university rover. Suspension to absorb shocks between the bogie frame and the rail vehicle body. Using calculated velocity value need to find out diameter of wheel is 95. The rocker bogie suspension mechanism which was currently nasas approved design for wheeled mobile robots, mainly because it had study or resilient capabilities to deal with obstacles and because it uniformly distributes the payload over its 6 wheels at all times. Challenges of designing the rocker bogie suspension for the mars exploration rover, proceedings of the 37th aerospace mechanisms symposium, johnson space center, may 1921, 2004. Sep 19, 20 an analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. 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. Design and implementation of a rockerbogie suspension for. We aim to introduce the mechanism of the rocker bogie or the rover as a suspension mechanism of normal vehicles. The rocker bogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to highspeed traversal over the planar terrain. It uses a suspension system that has 6 wheel with provide great stability.
To guarantee that basic proportions were kept, servocitys bogie runt rover 4 was used as a model. Ijsrd international journal for scientific research. This element of the design was the result of deliberate decisions by the faculty mentors, based on both educational outcomes and competitiveness. The bogie kit is designed with an awesome rocker bogie suspension making it great for climbing over tough obstacles. Harrington and chris voorhees abstract over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1,2. Mars rover rockerbogie differential alices astro info.