Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover Report

(A Unit of Nitte Education Trust(R), Mangalore)
An Autonomous Institution Affiliated to Visvesvaraya Technological University
Approved by UGC/AICTE/Govt of Karnataka, Accredited by NAAC (A Grade)
Govindapura, Gollahalli, P.B. No. 6429, Yelahanka, Bangalore 560-064, Karnataka, INDIA
DEPARTMENT OF MECHANICAL ENGINEERING
Accredited by NBA (Tier-I)
Project Report
On
Design and Fabrication of Rocker Bogie Mechanism
Automated-Combat Rover
Submitted in partial fulfilment for the award of BE Degree
“MECHANICAL ENGINEERING”
SUBMITTED BY
STUDENT NAME USN SEMESTER & SECTION
Roshan Sharma 1NT16ME194 VII-C
Rajesh Jaiswal 1NT16ME192 VII-C
Subash Roy 1NT16ME197 VII-C
Ankit Yadav 1NT16ME187 VII-C
UNDER THE GUIDANCE OF
Dr. Desai Gowda H.S
Professor
Department of Mechanical Engineering
Nitte Meenakshi Institute of Technology

(A Unit of Nitte Education Trust(R), Mangalore)
An Autonomous Institution Affiliated to Visvesvaraya Technological University
Approved by UGC/AICTE/Govt of Karnataka, Accredited by NAAC (A Grade)
Govindapura, Gollahalli, P.B. No. 6429, Yelahanka, Bangalore 560-064, Karnataka, INDIA
DEPARTMENT OF MECHANICAL ENGINEERING
Accredited by NBA (Tier-I)
Certificate
This is to Certify that the project entitled “DESIGN AND FABRICATION OF ROCKER BOGIE
MECHANISM AUTOMATED COMBAT ROVER” submitted by Roshan Sharma
(1NT16ME194), Rajesh Jaiswal(1NT16ME192), Subash Roy (1NT16ME197), Ankit
Yadav (1NT16ME187) bonafide students of Nitte Meenakshi Institute of Technology,
Bengaluru in partial fulfilment for the award of B.E Degree in Mechanical Engineering of
the Visvesvaraya Technological University, Belagavi, during the academic year 2019-20 is
an authentic work carried out by them under my supervision and guidance. It is certified that
all corrections/suggestions indicated by me have been incorporated in the report deposited
in the department library. The project work report has been approved as it satisfies the
academic requirements in respect of project work prescribed for the said degree.
SINO. Examiner’s Name Signature with Date
1
Dr. Desai Gowda H.S
Project Guide
Professor, Dept of Mechanical Engg, NMIT
Dr. Sudheer Reddy
Professor & Head
Dept of Mechanical Engg, NMIT
Dr. H C Nagaraj
Principal, NMIT

DESIGN AND FABRICATION OF ROCKER BOGIE MECHANISM AUTOMATED COMBAT ROVER
DEPT. OF MECHANICAL ENGINEERING, NMIT 1
TABLE OF CONTENTS
CHAPTER 1........................................................................................................................................1
1. INTRODUCTION..............................................................................................................1
CHAPTER 2........................................................................................................................................2
2 LITERATURE SURVEY .......................................................................................................2
2.1 LITERATURE REVIEW BASED ON OUR RESEARCH..............................................3
2.2 METHODOLOGY.........................................................................................................................3
CHAPTER 3........................................................................................................................................5
DESIGN PROCEDURE ............................................................................................................5
3.1 OBSERVATION ..................................................................................................................5
3.2 DESIGN CALCULATION..................................................................................................5
3.3 DESIGN & SELECTION OF WHEEL .............................................................................8
3.4 SELECTION OF ACCELERATION FOR ROBOT........................................................8
3.5 CODES USED FOR OPERATION....................................................................................9
3.5.1 ULTRASONIC SENSOR ...................................................................................................10
3.5.2 MOTORDRIVER............................................................................................................10
3.5.3 PROXIMITY SENSOR ..................................................................................................18
CHAPTER 4......................................................................................................................................19
COMPONENTS OF ROCKER-BOOGIE MECHANISM ......................................................19
4.1 GEAR MOTOR..................................................................................................................19
4.2 RASPBERRY PI 3 MODEL B+........................................................................................19
4.3 ROCKER BOOGIE FRAME............................................................................................21
CHAPTER 5......................................................................................................................................22
RESULT AND DISCUSSION.................................................................................................22
CHAPTER 6 .............................................................................................................................23
CONCLUSION.........................................................................................................................23
REFERENCES .........................................................................................................................24

TABLE OF FIGURE
Figure 3.1 Drawing for First Triangle................................................................................................6
Figure3. 2 Drawing for both Triangles..............................................................................................7
Figure 3.3 3D Model of Rover Frame ...............................................................................................8
Figure 5.1 Graph Negative momentum vs Obstacle Height...........................................................22

ACKNOWLEDGEMENT
• This report is the product of discussions, sharing comments, and rewriting that
relied upon the skills and commitment by Roshan Sharma, Rajesh Jaiswal, Subash
Roy, Ankit Yadav. There was much that we learned from each other through this
project. All the members of the team received support and encouragement from
their respective friends and we would like to take this opportunity to thank them.
• The success of this effort depends on the lecturers who encouraged students to
reflect on their learning and to pursue imaginative activities and questions.
• We wish to thank our college Nitte Meenakshi Institute of Technology, Bangalore,
our principal Dr. H C Nagaraj, our Guide Professor Dr. Desai Gowda H.S for
providing us the required resources.

ABSTRACT
Design and fabrication of Rocker Bogie mechanism automated combat Rover offer with
the vital thing of improving the rover to use it for Military purpose. The rover should
function on uneven terrain surface wherein our regular Defense rover cannot travel and for
which it is designed however several elements limit is operational capabilities, so the focus
of our research is to conquer those restrictions. Our research on the problem of the rover
conducted with the aid of our team especially focused on the modification of the rover
which can be presently used for Space Exploration, the linkage of the rover from the other
problems that had been obtained from the literature survey and studies so, research was
conducted on how to overcome those problems. The rover is made from PVC to increase
its capability to withstand Mechanical shocks, vibrations, and mechanical failures caused
by the terrain surfaces where its miles operated on.
Using designing software AUTOCAD the design of the Rocker bogie mechanism Rover
was made. Using the prototype and stay check all the improvements and functions have
been included in the rover. The result of the undertaking turned into the implementation of
unbiased directional manage utilizing minimum power modules which increases the
performance of the battery and will increase the running time of the rover. Thus, the various
upgrades had been made like live-streaming camera clean Remote-manage device with
temperature sensors, distance Measuring system with proper mechanical structure, and
mechanical feasibility.

CHAPTER 1
1. INTRODUCTION
The “Rocker-Bogie Mechanism” has gotten intended to be utilized at steady speeds. It can
be conquering deterrents which might be at the request for the elements of a wheel. In any
case, while conquering a gigantic obstacle, the vehicle's movement accurately rests whereas
the front wheels descents the hindrance. “When running at low speed (more noteworthy
than 10cm/second), powerful stuns are limited while this occurs. For some fate planetary
missions, meanderers will work at human level velocities (~1m/second)”. Stuns owing to
effect of the forward-facing wheels contrary to a hindrance could hurt the load of rover.
This research portrays the technique for utilizing a “Rocker-bogie Mechanism” all together
so, that it can efficiently step over the extreme extreme obstructions instead of affecting
and hiking over them. A large portion of the advantages of this procedure can be
accomplished with none mechanical adjustment to introduce plans - handiest an alteration
in controller technique. Some mechanical variations are forewarned to result the most
extreme advantage and to enormously blast the incredible working velocity of the future
meanderers. “The rocker-bogie Mechanism is suspension course of action progressed in
1988 to be used in NASA's Mars Rover Sojourner, and which has since become NASA's
supported organization for wanderers. It has been used inside the 2003 Mars Exploration
Rover undertaking robots Spirit and Opportunity, at the 2012 Mars Science Laboratory
(MSL) assignment's Rover Curiosity and is booked to be used inside the Mars 2020
wanderer.”
The term "rocker" originates from shaking thing of the bigger, frontward leg to each aspect
of suspension Mechanism. These “rockers” are identified with each extraordinary and the
rover case utilizing a differential. Comparative with suspension, after one “rocker” is going
up, option is coming down. The frame proceeds with the regular pitch demeanor of the two
rockers. One finish of a “rocker” is outfitted with a constrained wheel, and the opposite end
is rotated to the bogie. The "bogie" some portion of the timeframe alludes to the littler,
rearward leg that turns to the rocker inside the middle and which has a force wheel at each
quit. Intruders had been normally used as burden wheels in the paths of military tanks as
idlers circulating the weight over the territory and had been furthermore ordinarily used in

“trailers of semi-trailer trucks”. The two tanks and semi-trailers presently pick trailing arm
suspensions.
CHAPTER 2
2 LITERATURE SURVEY
• Shigeo Hirose et al.[1], (1995) “The author outlined the fundamental
considerations for the planetary rover. They compared the wheeled, legged
and articulated body shapes, and it was found that the wheel type is currently
the optimum for a planetary rover. Next they studied specific method for
configuring a planetary rover with one, two, three and four wheel”.
• Miller and Lee et al.[2], (2002) at “NASA described a method of driving a
rocker bogie vehicle than can effectively step over most obstacles rather
than impacting and climbing over them. They suggested some mechanical
changes to gather the maximum benefit and to greatly increase the effective
operational speed of future rovers. Most of the benefits of this method can
be achieved without any mechanical modification to existing designs but a
change in the control strategy”.
• Lamonet Al. [3], (2004) “The author described quasi-static modeling
considering the system constraints: maximal and minimal torques, positive
normal forces of a six-wheeled robot with a passive suspension mechanism
together with a method for selecting the optimal torques. The method is used
to limit wheel slip and to improve climbing capabilities”.
• Lindemann et al.[4],(2005) “The author described the Mars exploration
rovers named spirit and opportunity which were landed on the Mars surface
in January 2004". To assess the mobility characteristics of the rover in the
mars environment, engineering slopes, rock obstacles, and soft soil. Also, to
gain better insight into the rovers’ capabilities, a dynamic model of the
rovers was created in the software package ASAMS. The rover model was
then used to simulate many of the test cases, which provided a means for
model correction and correlation”.

• Mongkol Thianwiboon and Viboon Sangveraphunsiri et al.[5](2006) “The
author proposed a method for kinematics modeling of a six-wheel Rocker
Bogie mobile robot. The forward kinematics is derived by using wheel
Jacobina matrices in conjunction with wheel-ground contact angle
estimation. The inverse kinematics is to obtain the wheel velocities and
steering angles from the desired forward velocity and turning rate of the
robot. By comparing information onboard sensors and wheel velocities
traction to minimize wheel slip. Simulation is done with a rover that has
rocker-bogie in two coordinates of surface including climbing slope and
travel over a ditch”.
• Bai-chao et al.[6] (2007), “The author analyzed the structure of the new
suspension and the kinematics of the levers, and to known, the distortion
capability of the suspension, relational equations of the suspension levers
are established. To test the capability of suspension, they design a prototype
rover with the new suspension and take a test of climbing obstacles, and the
prototype rover with a new type of suspension had an excellent capability
to climb up obstacles with keeping cab smooth in the result”.
• Hacot et.al[7] (1998) “The author at MIT presented the models of
Mechanics and method for solving the inverse kinematics of the rocker-
bogie rover. The quasi-statics force analysis was described for the rover.
The simulation of the rover was done and compared with the experimental
results”.
2.1 SUMMARY OF LITERATURE REVIEW
The commencement of the "Rocker-bogie suspension Mechanism" is followed by the
advancement to earthbound rover’s which are cell Robot’s, interestingly expected to
proceed onward an earthly surface. Beginning rover had been teleoperated like the
"Lunokhod I" while progressing ones are absolutely self-overseeing, alongside Discovery,
FIDO, these days propelled "Curiosity Mars examination rover". The rover should have
been tough and strong since it must face up to clean, enthusiastic breezes, utilization, and
enormous temperature changes underneath bewildering conditions. Most noteworthy rover
stay controlled utilizing batteries that are empowered by sun situated blocks throughout the
day set over there surface. The development machine of rover remains fundamental to

allow it to show up at target districts, lead studies, and accumulate estimations and to put
itself according to the intrigue. “There are 3 boss sorts of rover development progressed so
far for instance Wheeled, legged, and caterpillar movement. The vital differentiation among
the irregular structures of planetary robots exists in such a movement system. Extensively
in the wake of turning out to be many-legged and crossbreed robots, most experts still care
about wheeled progress for rover as a result of its train straightforwardness and benefits,
and among wheeled speed position, the rocker-bogie suspension machine-based
arrangement remains commonly liked. The outdated FIDO rover and the Sojourner contain
6 self-governing quick and pushed wheels suspended from a "Rocker-bogie Mechanism"
for perfect suspension and ground opportunity. Harsh Seven Rover has a comparative
suspension system that moves in front wheels. The Nano vagabond and Nomad Rovers
have four controlled wheels suspended from gatecrashers and CRAB Rover uses two
equivalent bogie segments on each side to vanquish limitations and colossal openings.”[5]
Most, the item program smoothing out searches for a perfect inside the obliged game plan
space offered a principal reaction, and "Dr. Li et al. Decide a logical structure to summarize
rover suspension limits that describe the geometry of the rocker-bogie system. The goal at
the back of the progression of the rocker-bogie suspension contraption is to develop a
gadget that confines the quality usage, the vertical expulsion of the drifter's point of
convergence of mass, and its pitch edge. In this examination, we endeavor to move these
critical blessings embedded with the rocker-bogie structure into conventional motors to
take out pain and complexities present in the standard suspension system is outstanding and
suspension game plan of generous vehicles."[2]
2.2 METHODOLOGY
According to the examination, it's miles find that the rocker-bogie instrument decreases its
developments to a large portion of the speed when contrasted with other suspension
frameworks in light of the fact that every one of the bogie's six wheels has a fair-minded
component for development and wherein the two front and two back wheels have character
directing structures which permit the vehicle to show in area as 0 degree turning proportion.
Each wheel likewise has thick spikes that offer grasp for hiking in delicate sand and
scrambling over rocks effortlessly. To vanquish vertical obstruction faces, the front wheels
are compelled contrary to the hindrance utilizing the inside and back wheels which produce
most extreme required force. The pivot of the front wheel at that point lifts the front of the

vehicle up and over the obstruction and impediment overwhelmed. Those wheels which
stay inside the center are then squeezed contrary to the hindrance by means of the back
haggles towards the obstacle by the front till the time it's far lifted up and over. Finally, the
back wheel is pulled over the hindrance with the guide of the front wheels because of
utilizing the draw power. During each wheel's traversal of the hindrance, forward
improvement of the vehicle is eased back or totally ended which at long last jam vehicle’s
center of gravity.
CHAPTER 3
DESIGN PROCEDURE
3.1 OBSERVATION
The fundamental issue identified with contemporary suspension frameworks snared in
overwhelming stacking vehicles rovers (“Including the ones with lively and semi lively
suspension systems”) is their moderate pace of development which crash the beat to absorb
the shocks created by utilizing wheels which remain the aftereffect of two elements. In the
first place, to disregard impediments, the vehicle should be outfitted down apparently to
take into account adequate force to raise the mass of the vehicle. Thusly, this diminishes
normal pace which can't go on without serious consequences on account of overwhelming
stacking vehicles. Second, if the rover is venturing at an exorbitant speed and experiences
a snag (“Height greater than 10 percent of wheel range”), there could be a monstrous
amazement spread by means of the body which could harm the suspension or overturn
down the whole rover. That is the reason present-day overwhelming stacking rover venture
at a speed of 10cm/s by means of lopsided landscape. The product based leaving the
“rocker-bogie suspension mechanism” portrays the energy and proficiency related utilities
in an aggregate way.
3.2 DESIGN CALCULATION FOR STRUCTURE OF
ROCKER-BOGIE
The objective of our work is pertaining climbing of stairs.To accomplish appropriate step
climbing the size of linkages must be legitimate. Expect the step top and length 150 mm
and 370 mm separately. To climb steps with higher solidness, it is necessitated that the least
complex one sets of wheels should be in a rising job at once. Thus, to find the size of bogie

linkages, the primary pair of wheels must be put at a level position path at the quilt of the
ascending as appeared in Fig.3.1 and the second pair should be put only sooner than the
start of rising. There must be far between the vertical edge of the step and second pair of
the wheel to the putting of wheels.
Figure 3.1 Drawing for First Triangle
Presently, it is necessary to acquire the distance between 1st and 2nd wheel (270 mm).
Considering the right-angled triangle ABC,
Utilizing Pythagoras in ΔABC accept lengths AB and BC is x,
AC² = AB² + BC²
270² = x² + x²
270² = 2x²
x = 135 mm
Henceforth, AB = BC =135 mm

Figure 3.2 Drawing for Second Triangle
Additionally, to find measurements for rocker linkages initial two-wheel sets should be
situated at an even position. The 3rd wheel pair should practically finish its ascending
before the start of ascending of the primary pair of wheels. By placing the wheels in such
a manner, the component of connection BE (420mm) was acquired.
Now consider ΔBDE
420² = BD² + DE²
420² = 2y²
y = 210
Hence, BD = DE = 210
Figure3. 2 Drawing for both Triangles

Figure 3.3(a) 3D Model of Rover Frame
Figure 3.4(b) 3D Model of Rover Frame
3.3 DESIGN & SELECTION OF WHEELS
The diameter of the wheels of the “Rocker-bogie mechanism automated combat rover” is
calculated based on the slow speed. Using assumed speed value the wheel diameter i.e.
calculated as 96 mm. Hence the wheel of standard diameter 105 mm was selected. The
choice of elastic track clung to the wheel makes its gentle weight and solid furnishes super
footing with better holding during the movement. These elastic wheels give a minimal
effort arrangement that is solid adequate for a battle Rover. The Rover is built with six

wheels for better stability. The shaft diameter for the Rover is selected based on the motor
shaft diameter. The following are the details of wheels and Rover mechanism shaft
Wheel width: 40 mm, Hole of the wheel: 6mm and
an outer diameter of the wheel:105mm
Motor Shaft Diameter: 6mm
3.4 SELECTION OF ACCELERATION FOR ROVER
For a normal rover on level territory, it's needed to take speeding up about portion of the
most pace. “The greatest speed of the rover is 0.6 m/s. Henceforth the quickening of the
rover will be 0.6/2 methodology 0.3 m/s2. This implies it'd take 2 seconds to arrive at the
most speed. On the off chance that the rover is going up slants or through troublesome
territory, better speeding up was needed as a result of countering gravity. It expected to
climb the viewpoint as much as 45°”. Subsequently,
For a run of the mill robot on level territory, it's expected to take quickening about portion
of the most extreme speed. Most extreme speed of ransack is expected to climb the edge
up to 45˚. Subsequently,
= 9.81 ∗ sin angle of inclination ∗ π
180
= 0.121 m/s
2
Total Acceleration = 0.3+0.121 = 0.421 m/s
2
3.5 CODES
In interchanges and data preparing, code is arrangement of rules to change over data, for
example, a letter, word, sound, picture, or signal—into another structure, in some cases
abbreviated or mystery, for correspondence through a correspondence divert or capacity in
a capacity medium (source?). An early model is the innovation of language, which
empowered an individual, through discourse, to convey what they saw, heard, felt, or
thought to other people. Be that as it may, discourse confines the scope of correspondence
to the separation a voice can convey and restricts the crowd to those current when the
discourse is articulated. The creation of composing, which changed over communicated in
language into visual images, expanded the scope of correspondence across reality.
Following are the codes of the component used to work the Rover.

3.5.1 ULTRASONIC SENSOR
#define IR D7
bool ir;
void setup() {
Serial.begin(9600);
pinMode(IR, INPUT);
}
void loop() {
ir = digitalRead(IR);
if(ir == 0)
{
Serial.println("Object is present");
}
else if (ir == 1)
{
Serial.println("Empty");
}
}
3.5.2 MOTORDRIVER
#include <ESP8266WiFi.h>
#include <ESP8266WebServer.h>
const char* ssid = "Lavender";
const char* password = "5335921602";
ESP8266WebServer server(80);

const byte L298N_A_pin = D1; // GPI05
const byte L298N_A_In1_pin = D2; //GPI04
const byte L298N_A_In2_pin = D3; //GPI0
const byte L298N_B_In3_pin = D4; // GPI02
const byte L298N_B_In4_pin = D5; // GPIO14
const byte L298N_B_pin = D6; //GPI12
const byte Led1_pin = D7; //GPIO13 // Sol Sinyal
const byte Led2_pin = D8; //GPIO15 // Sag Sinyal
const byte Led3_pin = D9; //GPIO3 // On Far
const byte Led4_pin = D10; //GPI01 // Arka Lamba
const byte Korna_pin = D0; //GPI016 //Korna
byte SolSinyal = 0;
byte SagSinyal = 0;
byte ArkaLamba = 0;
void motorSpeed(int prmA, byte prmA1, byte prmA2, int prmB, byte prmB1, byte
prmB2)
{
analogWrite(L298N_A_pin,prmA);
analogWrite(L298N_B_pin,prmB);
digitalWrite(L298N_A_In1_pin,prmA1);
digitalWrite(L298N_A_In2_pin,prmA2);
digitalWrite(L298N_B_In3_pin,prmB1);
digitalWrite(L298N_B_In4_pin,prmB2);
}

void handleRoot() {
server.send(200, "text/plain", "hello from esp8266!");
}
void handleCar() {
String message = "";
int BtnValue = 0;
for (uint8_t i = 0; i < server.args(); i++) {
if (server.argName(i)=="a")
{
String s = server.arg(i);
BtnValue = s.toInt();
}
Serial.println(server.argName(i) + ": " + server.arg(i) + "n");
}
switch (BtnValue) {
case 1: // sola donuş
motorSpeed(900,LOW,LOW,1023,HIGH,LOW);
SolSinyal = 1;
digitalWrite(Led1_pin,HIGH);
break;
case 2: // düz ileri
motorSpeed(1023,HIGH,LOW,1023,HIGH,LOW);
SolSinyal = 0;
SagSinyal = 0;
digitalWrite(Led1_pin,LOW);
break;
case 3:// saga donuş

motorSpeed(1023,HIGH,LOW,900,LOW,LOW);
SagSinyal = 1;
break;
case 4:// tam sola donuş
motorSpeed(900,LOW,HIGH,900,HIGH,LOW);
SolSinyal = 1;
break;
case 5: // stop
motorSpeed(0,LOW,LOW,0,LOW,LOW);
SolSinyal = 0;
SagSinyal = 0;
break;
case 6://
motorSpeed(900,HIGH,LOW,900,LOW,HIGH);
SagSinyal = 1;
break;
case 7://sol geri
motorSpeed(900,LOW,LOW,1023,LOW,HIGH);
break;
case 8:// tam geri
motorSpeed(900,LOW,HIGH,900,LOW,HIGH);
break;
case 9:// sag geri
motorSpeed(1023,LOW,HIGH,900,LOW,LOW);
default:
break;

}
if (BtnValue > 7)
{
ArkaLamba = 1;
SolSinyal = 1;
SagSinyal = 1;
}
else
{
ArkaLamba = 0;
}
message += "<html> <head> <title>Gungor yalcin</title><head>";
message += "<body><h3>Wifi Robot Car NodeMCU Web Server</h1>";
message += "<table> ";
message += "<tr>";
message += "<td><p><a href="/car?a=1"><button
style="width:100;height:100;font-size:100px;"
class="button"></button></a></p> ";
class="button">^</button></a></p> ";
class="button">/</button></a></p> ";
message += "<tr>";

style="width:100;height:100;font-size:100px;" class="button"> <
</button></a></p> ";
class="button">Stop</button></a></p> ";
style="width:100;height:100;font-size:100px;" class="button"> >
</button></a></p> ";
message += "<tr>";
class="button">/</button></a></p> ";
class="button">v</button></a></p> ";
class="button"></button></a></p> ";
message += "</table> ";
message += "</body></html>";
server.send(200, "text/html", message);
}
void tempSinyal()
{
if (SolSinyal==1)
digitalWrite(Led1_pin,!digitalRead(Led1_pin));
if (SagSinyal==1)

if (ArkaLamba==1)
}
void handleNotFound() {
String message = "File Not Foundnn";
message += "URI: ";
message += server.uri();
message += "nMethod: ";
message += (server.method() == HTTP_GET) ? "GET" : "POST";
message += "nArguments: ";
message += server.args();
message += "n";
for (uint8_t i = 0; i < server.args(); i++) {
message += " " + server.argName(i) + ": " + server.arg(i) + "n";
}
server.send(404, "text/plain", message);
}
void setup() {
pinMode(L298N_A_In1_pin,OUTPUT);
pinMode(L298N_A_In2_pin,OUTPUT);
pinMode(L298N_B_In3_pin,OUTPUT);
pinMode(L298N_B_In4_pin,OUTPUT);
digitalWrite(L298N_A_In1_pin,LOW);
digitalWrite(L298N_A_In2_pin,LOW);

digitalWrite(L298N_B_In3_pin,LOW);
digitalWrite(L298N_B_In4_pin,LOW);
pinMode(Led1_pin,OUTPUT);
Serial.begin(115200);
WiFi.mode(WIFI_STA);
WiFi.begin(ssid, password);
Serial.println("");
while (WiFi.status() != WL_CONNECTED) {
delay(500);
Serial.print(".");
}
Serial.println("");
Serial.print("Connected to ");
Serial.println(ssid);
Serial.print("IP address: ");
Serial.println(WiFi.localIP());
server.on("/", handleRoot);
server.on("/car", handleCar);

server.on("/inline", []() {
server.send(200, "text/plain", "this works as well");
});
server.onNotFound(handleNotFound);
server.begin();
Serial.println("HTTP server started");
}
void loop() {
server.handleClient();
}
3.5.3 PROXIMITY SENSOR
const int photo_diode = A0;
int inputVal = 0;
void setup() {
Serial.begin(9600);
}
void loop(){
inputVal = analogRead(photo_diode);
Serial.print("Input Value: ");
Serial.println(inputVal);
delay(1000);
}

CHAPTER 4
COMPONENTS OF ROCKER-BOGIE MECHANISM
4.1 GEAR MOTOR
A “gear motor” is a specific type of motor that is planned to deliver inordinate force while
keeping a gradual torque, low velocity, motor yield. the gear motor can be situated in loads
of various applications and are likely applied in bunches of gadgets in home appliance.
“Gear motors are normally utilized in contraptions like can openers, stockpiling entryway
openers, washing gadget time control handles, or even electric morning timers. Regular
business utilizations of a Gear motor include health facilities bed, modern jacks, cranes,
and a lot of different projects which can be beyond any reasonable amount to list.”
Basic Principles of Operation
“A gear motor might be either an AC (alternating current) or a DC (direct current) electric
fueled motor. Most hardware vehicles have a yield of between around 1,200 to 3,600
insurgencies with regards to minute (RPMs). These styles of motors likewise have two
uncommon speed particulars: ordinary pace and the slowdown speed force details. gear
motors are by and large used to diminish pace in a progression of, which thus makes more
prominent force. This is done by the method of an incorporated assortment of gear or a gear
field being associated with the essential motor rotor and shaft through a second shaft. The
second shaft is then associated with the arrangement of gear or gearbox to make what is
known as a progression of decrease gears. As a rule, the more drawn out the educate of
decrease outfits, the lower the yield of the end, or last, gear will be. A splendid case of this
standard could be an electrically controlled time clock (the sort that utilizes hour, moment,
and second hands). The coordinated AC motor that is utilized to control the time clock will
ordinarily turn the rotor at around 1500 Revolution per the moment. Notwithstanding, a
progression of rebate gears are utilized to steady the movement of the hands-on clock. For
example, even as the rotor turns at around 1500 upsets in sync with minute, the decrease
gears grant the absolute last used gear to turn at the least complex one upheaval for every
moment. This is the thing that allows in the used to make one whole insurgency steady with

a moment on the substance of the clock. Gear Motors and Increased Force Gear vehicles
are generally utilized in business applications where a bit of the gadget needs a decent
method to apply a high measure of power a decent method to stream an overwhelming
article. Instances of these assortments of gadgets would incorporate a crane or lift Jack. On
the off chance that you have ever observed a crane in real life, you have seen a huge case
of how a gear motor functions. As you have most likely seen, a crane can be utilized to lift
and pass substantial articles. The electric-controlled motor utilized in greatest cranes is such
a gear motor that utilizes the essential standards of speed markdown to blast force or weight.
Gear autos utilized in cranes are regularly strength sorts that utilization a thoroughly low
rotational yield speed to make good amounts of force.” Notwithstanding, ideas of the “gear
motor” utilized in the crane are equivalent to those utilized in the model electric controlled
time clock. The yield speed of the rotor is diminished over a movement of huge gears till
the pivoting, RPM speed, of the absolute last gear, might be exceptionally low. “The low
RPM speed empowers to make a high measure of weight which can be utilized to lift and
move the overwhelming articles.”

4.2 ROCKER BOOGIE FRAME
The term "Bogie" alludes to the connections that consist of force wheel at each end. Bogie
was normally used as burden wheels inside the tracks of millitary tanks as idlers
administering the heap over the territory. Bogie has been furthermore commonly utilized
on the trailers of semi-trailer trucks. “The two projects presently settle on trailing arm
suspensions. The “rocker-bogie mechanism” is the suspension course of action utilized
inside the Mars rovers (mechanical robot) brought for the Mars Pathfinder and utilized on
the Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions. It is at
present NASA's ideal structure” [1]. “The expression "rocker" originates from the shaking
issue of the greater on each part of the suspension device. These rockers are associated and
the vehicle skeleton through a differential. Comparative with the body, while one rocker is
going up, the difference goes down. The body proceeds with the normal pitch edge of every
rocker. One acquiescence of a rocker is equipped with a force to haggle elective surrender
is rotated to a bogie”[2.1].
Figure 4.2 ROCKER BOOGIE FRAME

CHAPTER 5
RESULT AND DISCUSSION
The essential issue identified with current suspension systems presented in generous
stacking vehicles rover ("checking those with dynamic and semi-dynamic suspension
structures") is their moderate pace movement which crashes the balance to hold the dazes
delivered by wheels which continue the eventual outcome of 2 parts. “In any case, to
dismiss obstacles the rover must be equipped down basically to consider enough power to
raise the load of the rover. Along these lines, this diminishes all-around speed which can't
go on without genuine outcomes under generous stacking rover. Second, if the vehicle is
going at a quick and encounters an impediment (height more conspicuous than 10 percent
of wheel clear), there will be a tremendous paralyze transmitted through the body which
could hurt the suspension or upset down the entire vehicle. That is the explanation current
generous stacking rover travel at a speed of 10cm/s through the disproportionate region.
The item-based testing of the “rocker-bogie suspension” structure depicts the vitality and
capability related utilities in a consolidated manner” [2].
“Various tests were coordinated to choose how the improved rover would perform against
its precursor plans by use of Negative Moment versus obstacle Height and their responses
were obtained and their charts were plotted, and assessments were made. The Negative
momentum versus obstacle Height chart have appeared in figure 5.1.”
Figure 5.1 Graph Negative momentum vs Obstacle Height
0
20
40
60
80
100
120
-200 -100 0 100 200
Negativemomentum(kg-m/s)
Obstacle height(mm)
Negative momentum vs
Obstacle Height

CHAPTER 6
CONCLUSION
• The proposed paper presents a one of a kind format in seek after of developing
the “rocker-bogie mechanism system” in customary overwhelming stacking
vehicle conduct while high-pace traversal is required and to build the battery
proficiency and running-time of the rover, which become completed practical
use of the autonomous directional control machine which utilizes least power
modules organized upon the working condition and circumstance.
• Under reasonable suppositions, it's far conceivable to decide the rover mentality
and design, given its capacity and ground attributes, and whether the rover will
slide, spill or protect its dependability the use of sensors and instruments. The
close to 0 tilt machine the utilization of the rovers quality gracefully appended
to the fundamental body of the rover as a stabilizer and self-balance itself
decreases the offer and odds of tilt or toppling. The mechanics of the rover has
been created, and the over-incitation of the framework prompts the possibility
to influence the normal powers by applying specific wheel forces.
• These properties have been approved tentatively and might be utilized for the
structure of enthusiastic footing control. A graphical interface might be
structured and actualized onto the contemporary “geo-survey rover design” to
beautify know-how of the framework and to see all data in regards to its activity
with a reason to be helpful in correspondingly propelling the gadget.
• This research shows how the "rocker-bogie mechanism" takes a shot at explicit
surfaces. As in accordance with the particular weight performing on decides
force completed on it. By accepting right step measurements, precisely
dimensioned "rocker-bogie mechanism rover" can climb the step with amazing
strength.
• The designed and fabricated model can climb the edge as much as 45°.
Likewise, it was tried for the Webcam with “AV recording” snared on the
“rocker-bogie mechanism” and found the top notch execution of its abilities for
giving an image and video data.

REFERENCES
[1] S. Hirose, A. Kawakami, K. Kato, and H. Kuwahara, et al.(1999) “Super-Mechano-Colony
and SMC Rover with Detachable Wheel Units”, Proc. COE workshop ’99, pp.67-72.
[2] Miller, David P.; Lee, Tze-Liang et al. (March 17–21, 2002). "High-speed traversal of
rough terrain using a rocker-bogie mobility system"
[3] Lamon, P, Krebs, A, Lauria, M, et al. (ICRA 2004), “Wheel torque control for a rough
terrain rover. In: IEEE international conference on robotics and automation
2004.” IEEE: ETH-Zurich.
[4] Lindemann, RA, Voorhees, CJ. et.al(2005) “Mars exploration rover mobility assembly
design, test and performance. In: IEEE international conference on systems, man and
cybernetics”, Vol. 1, Waikoloa, HI,pp. 450–455. IEEE.
[5] Mongkol Thianwiboon and Viboon Sangveraphunsir et.al(2006) , “Traction Control for
a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation”
[6] Chen Bai-chao et.al(2007) ,”Design and Simulation Research on a New Type of
Suspension for Lunar”
[7] Hacot, H.,et al. (1998)” The Kinematic Analysis and Motion Control of a
Planetary Rover”, Master’s Thesis, Department of Mechanical Engineering,
Massachusetts Institute of Technology, Cambridge, MA,

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