This document describes the design and fabrication of a rocker bogie mechanism. It provides details on the components, working principle, advantages, and applications of the rocker bogie suspension system. The rocker bogie allows vehicles to traverse rugged terrain by lifting each wheel over obstacles independently. It has been used successfully on NASA Mars rovers due to its ability to distribute weight evenly and climb obstacles twice the wheel diameter. The document outlines the process followed to design, build, and test a rocker bogie mechanism model.
this ppt contains the robots which are used in space for investigating nearby planets from earth itself, the mechanism used for these rover is rocker bogie mechanism, which has the advantage to overcome the giant rocks.
The Rocker-Bogie Mobility system was designed to be used at slow speeds. It is capable of
overcoming obstacles that are on the order of the size of a wheel. However, when surmounting a
sizable obstacle, the motion of the vehicle effectively stops while the front wheel climbs the obstacle.
When operating at low speed (greater than 10cm/second), dynamic shocks are minimized when
this happens. For many future planetary missions, rovers will have to operate at human level
speeds (~1m/second). Shocks resulting from the impact of the front wheel against an obstacle
could damage the payload or the vehicle. This paper describes a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and
climbing over them. Most of the benefits of this method can be achieved without any
mechanical modification to existing designs – only a change in the control strategy. Some
mechanical changes are suggested to gather the maximum benefit and to greatly increase the
effective operating speed of future rovers.
Rocker bogie mechanism (mars rover) final year mini project final review paper BIRENDRA KUMAR PANDIT
The Rocker-Bogie Mobility system was designed to be used at slow speeds. It is capable of
overcoming obstacles that are on the order of the size of a wheel. However, when surmounting a
sizable obstacle, the vehicles motion effectively stops while the front wheel climbs the obstacle.
When operating at low speed (greater than 10cm/second), dynamic shocks are minimized when
this happens. For many future planetary missions, rovers will have to operate at human level
speeds (~1m/second). Shocks resulting from the impact of the front wheel against an obstacle
could damage the payload or the vehicle. This paper describes a method of driving a rockerbogie vehicle so that it can effectively step over most obstacles rather than impacting and
climbing over them. Most of the benefits of this method can be achieved without any
mechanical modification to existing designs – only a change in control strategy. Some
mechanical changes are suggested to gather the maximum benefit and to greatly increase the
effective operating speed of future rovers.
this ppt contains the robots which are used in space for investigating nearby planets from earth itself, the mechanism used for these rover is rocker bogie mechanism, which has the advantage to overcome the giant rocks.
The Rocker-Bogie Mobility system was designed to be used at slow speeds. It is capable of
overcoming obstacles that are on the order of the size of a wheel. However, when surmounting a
sizable obstacle, the motion of the vehicle effectively stops while the front wheel climbs the obstacle.
When operating at low speed (greater than 10cm/second), dynamic shocks are minimized when
this happens. For many future planetary missions, rovers will have to operate at human level
speeds (~1m/second). Shocks resulting from the impact of the front wheel against an obstacle
could damage the payload or the vehicle. This paper describes a method of driving a rocker-bogie vehicle so that it can effectively step over most obstacles rather than impacting and
climbing over them. Most of the benefits of this method can be achieved without any
mechanical modification to existing designs – only a change in the control strategy. Some
mechanical changes are suggested to gather the maximum benefit and to greatly increase the
effective operating speed of future rovers.
Rocker bogie mechanism (mars rover) final year mini project final review paper BIRENDRA KUMAR PANDIT
The Rocker-Bogie Mobility system was designed to be used at slow speeds. It is capable of
overcoming obstacles that are on the order of the size of a wheel. However, when surmounting a
sizable obstacle, the vehicles motion effectively stops while the front wheel climbs the obstacle.
When operating at low speed (greater than 10cm/second), dynamic shocks are minimized when
this happens. For many future planetary missions, rovers will have to operate at human level
speeds (~1m/second). Shocks resulting from the impact of the front wheel against an obstacle
could damage the payload or the vehicle. This paper describes a method of driving a rockerbogie vehicle so that it can effectively step over most obstacles rather than impacting and
climbing over them. Most of the benefits of this method can be achieved without any
mechanical modification to existing designs – only a change in control strategy. Some
mechanical changes are suggested to gather the maximum benefit and to greatly increase the
effective operating speed of future rovers.
Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover ReportRoshansharma99
"Design and fabrication of Rocker Bogie Mechanism Automated Combat Rover" offer the indispensable thing of
improving the Rover to utilize it for Military reasons. The Rover should work on landscape surface wherein our ordinary
Defense Rover can't travel and for which it is structured anyway a few components limit its operational abilities, so the focal
point of our exploration is to vanquish those limitations. Our examination on the issue of the Rover led with the guide of our
group particularly centered around the alteration of the Rover which can be directly utilized for Space Exploration, the linkage
of the Rover from different issues that had been acquired from the literature review and studies in this way, research was led on
the most proficient method to overcome that. The Rover is completely made of using PVC to expand its capacity to withstand
Mechanical shock, vibrations, and mechanical failures brought about by the territory surfaces where its miles worked on. Using
planning programming CATIA the structure of the Rocker bogie mechanism Rover was made. Utilizing the model and stay
check all the enhancements and capacity have been incorporated into the Rover. The consequence of the endeavor transformed
into the usage of fair directional oversee using least force modules which builds the presentation of the battery and will expand
the running time of the Rover. In this manner, the different updates had been made like live-streaming camera Remote-control
gadget with temperature sensors, separation Measuring framework with appropriate mechanical structure, and mechanical
attainability.
Design and Fabrication of Wheel Chair using Rocker Bogie Mechanismijtsrd
Rocker bogie finds a vital role in determining the scientific analysis of objectives separated by many distance apart. The mobility design at present is quite a bit complex with many legs or wheels. The wheeled rover which is capable of driving over the rough terrain provided with high degree of mobility suspension system. The drive provided by the rocker bogie is simple and it mainly operated by the means of two motors. The motors are kept inside in order to make it more reliable and efficient. In overcoming the bumps in the natural terrain the wheels are operated simultaneously. By implementing this mechanism the vehicle can come through any obstacles it faces during the travel in the terrain. Arjun CP | Jithin Peter TK | C. Mohamed Meersa | Habeeb Rahman PP "Design and Fabrication of Wheel Chair using Rocker Bogie Mechanism" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-4 , June 2021, URL: https://www.ijtsrd.compapers/ijtsrd42537.pdf Paper URL: https://www.ijtsrd.comengineering/mechanical-engineering/42537/design-and-fabrication-of-wheel-chair-using-rocker-bogie-mechanism/arjun-cp
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
A six‐legged walking robot that is capable of basic mobility tasks such as walking forward, backward, rotating in place and raising or lowering the body height.The legs will be of a modular design and will have three degrees of freedom each.
— This slide introduces a mars exploration robot based system that useful to explore the planet mars. Mars Rover Mongol Pothik is a semi-autonomous robot that is developed based on sensors and interactive applications. The robot is capable of completing human assistant tasks, Astronaut assistance task, collecting resource from planet mars, giving a feedback of soils condition such as temperature, moisture, pH. This robotics system includes a web based mother station from where the rover is controlled and given instructions to complete tasks. The mars rover will be used in planetary exploration research to explore life on mars. This rover has rocker-bogie suspension system, robotics arm, Drilling mechanism, live feed camera, aluminum wheels suitable to explore planet mars. This research is mainly focused on robotic system and computational efficiency. The system is consist of a GPS system for mapping purpose and smooth controlling features. In his paper we will discuss about different functionalities of mars rover. The end result will show the efficiency, impact and performance analysis of the system.
Cable Stay Bridge construction at Bardhman using LARSA and LUSAS four dimensi...Rajesh Prasad
For the construction of Cable Stayed Bridge at Bardhman, a simulation model was made using LARSA 4D and accordingly design were concluded considering all the possible situation. At the execution stage the profile/geometry control is very important. Accordingly construction stage analysis along with geometry control is being done using LUSAS software. These software are 4D and the fourth dimension is Time. The said presentation covers the LARSA, LUSAS and few pictures on execution at site along with sample of documentation.
Design and Fabrication of Rocker Bogie Mechanism Automated Combat Rover ReportRoshansharma99
"Design and fabrication of Rocker Bogie Mechanism Automated Combat Rover" offer the indispensable thing of
improving the Rover to utilize it for Military reasons. The Rover should work on landscape surface wherein our ordinary
Defense Rover can't travel and for which it is structured anyway a few components limit its operational abilities, so the focal
point of our exploration is to vanquish those limitations. Our examination on the issue of the Rover led with the guide of our
group particularly centered around the alteration of the Rover which can be directly utilized for Space Exploration, the linkage
of the Rover from different issues that had been acquired from the literature review and studies in this way, research was led on
the most proficient method to overcome that. The Rover is completely made of using PVC to expand its capacity to withstand
Mechanical shock, vibrations, and mechanical failures brought about by the territory surfaces where its miles worked on. Using
planning programming CATIA the structure of the Rocker bogie mechanism Rover was made. Utilizing the model and stay
check all the enhancements and capacity have been incorporated into the Rover. The consequence of the endeavor transformed
into the usage of fair directional oversee using least force modules which builds the presentation of the battery and will expand
the running time of the Rover. In this manner, the different updates had been made like live-streaming camera Remote-control
gadget with temperature sensors, separation Measuring framework with appropriate mechanical structure, and mechanical
attainability.
Design and Fabrication of Wheel Chair using Rocker Bogie Mechanismijtsrd
Rocker bogie finds a vital role in determining the scientific analysis of objectives separated by many distance apart. The mobility design at present is quite a bit complex with many legs or wheels. The wheeled rover which is capable of driving over the rough terrain provided with high degree of mobility suspension system. The drive provided by the rocker bogie is simple and it mainly operated by the means of two motors. The motors are kept inside in order to make it more reliable and efficient. In overcoming the bumps in the natural terrain the wheels are operated simultaneously. By implementing this mechanism the vehicle can come through any obstacles it faces during the travel in the terrain. Arjun CP | Jithin Peter TK | C. Mohamed Meersa | Habeeb Rahman PP "Design and Fabrication of Wheel Chair using Rocker Bogie Mechanism" Published in International Journal of Trend in Scientific Research and Development (ijtsrd), ISSN: 2456-6470, Volume-5 | Issue-4 , June 2021, URL: https://www.ijtsrd.compapers/ijtsrd42537.pdf Paper URL: https://www.ijtsrd.comengineering/mechanical-engineering/42537/design-and-fabrication-of-wheel-chair-using-rocker-bogie-mechanism/arjun-cp
Slide show demonstrating pick and place robot and its parts.
Also effects are implanted in the slide.
It can be helpful for students for academic projects.
A six‐legged walking robot that is capable of basic mobility tasks such as walking forward, backward, rotating in place and raising or lowering the body height.The legs will be of a modular design and will have three degrees of freedom each.
— This slide introduces a mars exploration robot based system that useful to explore the planet mars. Mars Rover Mongol Pothik is a semi-autonomous robot that is developed based on sensors and interactive applications. The robot is capable of completing human assistant tasks, Astronaut assistance task, collecting resource from planet mars, giving a feedback of soils condition such as temperature, moisture, pH. This robotics system includes a web based mother station from where the rover is controlled and given instructions to complete tasks. The mars rover will be used in planetary exploration research to explore life on mars. This rover has rocker-bogie suspension system, robotics arm, Drilling mechanism, live feed camera, aluminum wheels suitable to explore planet mars. This research is mainly focused on robotic system and computational efficiency. The system is consist of a GPS system for mapping purpose and smooth controlling features. In his paper we will discuss about different functionalities of mars rover. The end result will show the efficiency, impact and performance analysis of the system.
Cable Stay Bridge construction at Bardhman using LARSA and LUSAS four dimensi...Rajesh Prasad
For the construction of Cable Stayed Bridge at Bardhman, a simulation model was made using LARSA 4D and accordingly design were concluded considering all the possible situation. At the execution stage the profile/geometry control is very important. Accordingly construction stage analysis along with geometry control is being done using LUSAS software. These software are 4D and the fourth dimension is Time. The said presentation covers the LARSA, LUSAS and few pictures on execution at site along with sample of documentation.
Design and fibrication of rocker bogie mechansim automated combat roverRoshansharma99
"Design and fabrication of Rocker Bogie Mechanism Automated Combat Rover" offer the indispensable thing of
improving the Rover to utilize it for Military reasons. The Rover should work on landscape surface wherein our ordinary
Defense Rover can't travel and for which it is structured anyway a few components limit its operational abilities, so the focal
point of our exploration is to vanquish those limitations. Our examination on the issue of the Rover led with the guide of our
group particularly centered around the alteration of the Rover which can be directly utilized for Space Exploration, the linkage
of the Rover from different issues that had been acquired from the literature review and studies in this way, research was led on
the most proficient method to overcome that. The Rover is completely made of using PVC to expand its capacity to withstand
Mechanical shock, vibrations, and mechanical failures brought about by the territory surfaces where its miles worked on. Using
planning programming CATIA the structure of the Rocker bogie mechanism Rover was made. Utilizing the model and stay
check all the enhancements and capacity have been incorporated into the Rover. The consequence of the endeavor transformed
into the usage of fair directional oversee using least force modules which builds the presentation of the battery and will expand
the running time of the Rover. In this manner, the different updates had been made like live-streaming camera Remote-control
gadget with temperature sensors, separation Measuring framework with appropriate mechanical structure, and mechanical
attainability.
DESIGN ANALYSIS OF UNIVERSAL JOINT SHAFT FOR ROLLING MILLSSughosh Deshmukh
The properties of steels made by rolling of billets
are mainly dependent on the process of forming. The
performance of the rolling mill depends on the Universal
joint shaft through which the power is transmitted to the
rollers of a mill. This report mainly focuses on the
analysis of universal joint shaft for rolling mills because this
shaft is subjected to vibrations caused due to the jerk
produced during the passing of billet through the rollers.
This is a semester project for Machine Design Project. This was successfully completed with the help of other two team members, Shenal Dilajnjaya & Amalka Indupama. This is based on skidded Helicopter lifting mechanism and designed to lift three different weight categories of the helicopters usually used in the aviation field.
Karakuri based dolly frames unstacking systemAnshumanRaj8
The project aims to design a Karakuri Kaizen model to stack and unstack dolly frames efficiently and ergonimically. The design havve been proposed and assembled using standard components from Minitec using Solidworks version 2020. The required inclination angle for the conveyor and the deadwight of the protoype is calculated for the designed assembly. Frame count validation electronic unit is designed to check if the frames per minutes worked in a given set of time is maintained. The electronic unit designed in Kicad , required electronic components and 3d printed, housing for the electronicunit is designed and assembled.
Design and development of horizontal tensile testing machine (5kN)Sajeed Mahaboob
In this project, a portable horizontal tensile testing system involving the use of a specially designed tensile specimen is proposed. The system developed was designed to convert the rotation motion of a ball screw into the linear motion of specimen grips that apply a tensile load to the specimen. The frame contains an aligned linear motion guide for the movement of the specimen grips, ensuring the co-linearity of the travel axes. One side of the specimen is connected to a ball-screw block and the other side is connected to a load-cell (which is static) to detect the load magnitude.
Final Year Major Project on Solar Powered Three Wheeler for Disabled Person.
The design on Solidworks and Analysis on ANSYS Multiphysics. It uses the renewable energy which is eco-friendly and very less pollution.
Design and fabrication of solar three wheeler.
hello folks;
In this documentation, A 2 stage bevel reduction gearbox is designed.
The example taken is of the gearbox requirement for the Box-shipping conveyor. All the necessary design calculations for gears and shafts are carried out in a proper and easy-to-understand sequence. The material selection, standardized components (keys, oil seals likewise)selection from the design databook is also discussed with reasoning. As and when needed concepts are explained with the help of suitable graphs, visuals, and drawings.
This report is authorized by the team member's name mentioned on Slide.
Thank you!!
If you find it helpful do like&l share it with your engineering friends
Design and analysis of solar support structure and daily tilting mechanismSUROJU SAIKRISHNA
Solar energy is the most used renewable energy in which solar rays from the sun falls on the photovoltaic cell to generate the electricity. The main aim is to design the support structure, transmission mechanism and tilting of the panel automatically on the daily basis depending on the wind pressure analysis and manual adjustment in the seasonal tilt and design considerations of the solar firm.
This is one of the presentations I gave with my team, in the 2020-2021 school year, to demonstrate the final design of the Titan Rover senior design project that I co-led. Titan Rover is a legacy senior design project. Its main objective is to create a version of the Mars Rover for the University Rover Challenge.
CFD Simulation of By-pass Flow in a HRSG module by R&R Consult.pptxR&R Consult
CFD analysis is incredibly effective at solving mysteries and improving the performance of complex systems!
Here's a great example: At a large natural gas-fired power plant, where they use waste heat to generate steam and energy, they were puzzled that their boiler wasn't producing as much steam as expected.
R&R and Tetra Engineering Group Inc. were asked to solve the issue with reduced steam production.
An inspection had shown that a significant amount of hot flue gas was bypassing the boiler tubes, where the heat was supposed to be transferred.
R&R Consult conducted a CFD analysis, which revealed that 6.3% of the flue gas was bypassing the boiler tubes without transferring heat. The analysis also showed that the flue gas was instead being directed along the sides of the boiler and between the modules that were supposed to capture the heat. This was the cause of the reduced performance.
Based on our results, Tetra Engineering installed covering plates to reduce the bypass flow. This improved the boiler's performance and increased electricity production.
It is always satisfying when we can help solve complex challenges like this. Do your systems also need a check-up or optimization? Give us a call!
Work done in cooperation with James Malloy and David Moelling from Tetra Engineering.
More examples of our work https://www.r-r-consult.dk/en/cases-en/
TECHNICAL TRAINING MANUAL GENERAL FAMILIARIZATION COURSEDuvanRamosGarzon1
AIRCRAFT GENERAL
The Single Aisle is the most advanced family aircraft in service today, with fly-by-wire flight controls.
The A318, A319, A320 and A321 are twin-engine subsonic medium range aircraft.
The family offers a choice of engines
About
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Vaccine management system project report documentation..pdfKamal Acharya
The Division of Vaccine and Immunization is facing increasing difficulty monitoring vaccines and other commodities distribution once they have been distributed from the national stores. With the introduction of new vaccines, more challenges have been anticipated with this additions posing serious threat to the already over strained vaccine supply chain system in Kenya.
Saudi Arabia stands as a titan in the global energy landscape, renowned for its abundant oil and gas resources. It's the largest exporter of petroleum and holds some of the world's most significant reserves. Let's delve into the top 10 oil and gas projects shaping Saudi Arabia's energy future in 2024.
Event Management System Vb Net Project Report.pdfKamal Acharya
In present era, the scopes of information technology growing with a very fast .We do not see any are untouched from this industry. The scope of information technology has become wider includes: Business and industry. Household Business, Communication, Education, Entertainment, Science, Medicine, Engineering, Distance Learning, Weather Forecasting. Carrier Searching and so on.
My project named “Event Management System” is software that store and maintained all events coordinated in college. It also helpful to print related reports. My project will help to record the events coordinated by faculties with their Name, Event subject, date & details in an efficient & effective ways.
In my system we have to make a system by which a user can record all events coordinated by a particular faculty. In our proposed system some more featured are added which differs it from the existing system such as security.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
Courier management system project report.pdfKamal Acharya
It is now-a-days very important for the people to send or receive articles like imported furniture, electronic items, gifts, business goods and the like. People depend vastly on different transport systems which mostly use the manual way of receiving and delivering the articles. There is no way to track the articles till they are received and there is no way to let the customer know what happened in transit, once he booked some articles. In such a situation, we need a system which completely computerizes the cargo activities including time to time tracking of the articles sent. This need is fulfilled by Courier Management System software which is online software for the cargo management people that enables them to receive the goods from a source and send them to a required destination and track their status from time to time.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Water Industry Process Automation and Control Monthly - May 2024.pdf
Rocker bogie mechanism
1. 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
Department of Mechanical engineering
Panimalar Engineering College, Chennai-123
BATCH NUMBER: 76
2. ABSTRACT:
2
• 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.
• To design a mechanism that can traverse terrains where the left
and right rockers individually climb different obstacles.
• To sustain a tilt of over 50deg without tipping over the
sideways.
3. INTRODUCTION:
3
• 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
• This bogie can resist mechanical failures caused by the
harsh environment on MARS
• The primary mechanical feature of
the Rocker Bogie design is it’s drive train simplicity, which is
accomplished by two rocker arms
4. PRINCIPLE:
4
•The front wheels are forced against the obstacle by the rear wheels. The
rotation of the front wheel then lifts the front of the vehicle up and over
the obstacle.
• The middle wheel is the pressed against the obstacle by the rear wheel
and pulled against the obstacle by the front, until it is lifted up and over.
•Finally, the rear wheel is pulled over the obstacle by the front two wheels.
During each wheel’s traversal of the obstacle, forward progress of the
vehicle is slowed or completely halted.
• These rovers move slowly and climb over the obstacles by having wheels
lift each piece of the suspension over the obstacle one portion at a time.
6. ADVANTAGES:
6
• This mechanism allows climbing obstacles twice the size of
wheel diameter
• Does not employ springs and stub axles
• Equal distribution of load on all wheels
• Independent movement of rocker on either sides of the bogie
• The front and back wheels have individual drives for
climbing, enabling the rover to traverse obstacle without
slip
• The design is simple and reliable
8. COURTESY: MARS CURIOSITY ROVER
ON ROCKER BOGIE SUSPENSION
8
Curiosity Rover:
Curiosity is a car-sized robotic rover exploring
Mars as part of NASA's Mars Science
Laboratory(MSL) mission.
Launch date: November 26, 2011
Rocket: Atlas V
Manufacturer: NASA
Operator: NASA
Mission Type :- Mars Exploration
Rover
Launch Mass:- 900 Kg
Max Speed:- 50mm/s
Average Speed :- 10mm/s
9. 9
APPLICATIONS
•RBM was employed in Viking 1 & Viking 2 space landers of NASA in 1996.
•In 1997, The Mars Pathfinder (MPF) lander delivered the Sojourner Rover
to the surface successfully which was mounted on this bogie system.
•Two other Mars rovers namely Spirit and Opportunity launched by NASA in
early 2004 was also built on RBM.
•Most Recently in 2011, RBM was used in NASA’s Mars Science Laboratory
(MSL) with a rover named Curiosity rover.
11. PROCESS INVOLVED:
11
• Design of bogie
• Cutting of links
• Welding of links and bushes
• Drilling
• Facing and turning of shaft
• Assembly of wheels, motor, bearing, shaft,
pin.
• Soldering in power distribution circuit
• Testing of Rig
12. VELOCITY 80mm/s VELOCITY 100mm/s VELOCITY 120mm/s
SPEED(N) DIA(D) SPEED(N) DIA (D) SPEED(N) DIA (D)
rpm mm rpm mm rpm mm
10 152.77 10 190.96 10 229.15
20 76.38 20 95.48 20 114.58
30 50.92 30 63.65 30 76.38
40 38.19 40 47.74 40 57.29
50 30.55 50 38.19 50 45.83
60 25.46 60 31.83 60 38.19
70 21.82 70 27.28 70 32.74
80 19.10 80 23.87 80 28.64
We have chosen 30rpm motor.
From the above table for 100mm/s ; the wheel diameter is
63.6mm(70mm approx)
Velocity, V =(πDN)/60
12
16. GROSS WEIGHT CALCULATION
MASS = VOLUME X DENSITY
DENSITY OF MILD STEEL = 0.00785 g/mm3
1)Weight of rocker arms = 2[(320*25*3*0.00785) +
(200*25*3*0.00785)] = 612.3gm
2)Weight of bogies = 2[2*(180*25*3*0.00785)] = 423.9gm
3)Weight of shaft = [(π/4)*9*9*230*0.00785) = 114.8gm
4)Weight of pin = 2*[2((π/4)*8*8*7*0.00785) +
((π/4)*9*9*7*0.00785)] = 18.02gm
5)Weight of bearings = 4*10 = 40gm
6)Weight of bush = 4*28.7 = 114.8gm
Total weight = 612.3+423.9+114.8+18.02+40+114.8
=1323.82gm
16
GROSS WEIGHT OF THE MECHANISM IS 1.323Kg
17. DIMENSIONS AND MATERIAL SPECIFICATIONS
17
DESCRIPTION DIMENSIONS
Wheel Thickness 20mm
Wheel Diameter 70mm
Height 230mm
Wheel Base 340mm
Track Width 231mm
Bogie length 141mm
Rocker length 282mm, 141mm
Bearing ID 8mm OD 22mm
Bearing bush ID 22mm OD 26mm
Shaft diameter 9mm
Shaft length 230mm, 18mm
COMPONENTS MATERIALS
Frames Mild steel
Shaft Mild steel
Bearings Hardened carbon steel
Bearing housing(bush) Stainless steel EN8
COMPONENTS DIMENSION
Shaft 9mm dia.,
400mm length
Frames 1250*25*3mm
Bush 26mm dia.,
100mm length
18. PART MODEL WITH DIMENSIONS
BEARING BUSHBEARING BUSH
PIN LENGTH PIN DIAMETERPIN LENGTH PIN DIAMETER 18
19. PART MODEL WITH DIMENSIONS CONTD.
19
ROCKER BOGIEROCKER BOGIE
SHAFT
21. POWER DISTRIBUTION CIRCUIT
21
• The power from the battery is equally distributed to all the six
motors through the power distribution circuit
• Negative terminals make 1 solder joint; positive terminals from 3
motors from both side make 2 solder joints with 3 SPDT switches
• The direction of the motor rotation is reversed by changing the
input poles from the battery
• Drawback of this circuit is the heating of the connecting wires due
to the failure in calculating the resistance of the wires for 12V.
22. POWER DISTRIBUTION
CIRCUIT
22
• Most common SPDT slide switch is used
• A Single Pole Double Throw(SPDT) individually controls a
single circuit as for single throw and has two positions(ON/OFF)
as for double throw
• SPDT switch has 3 terminals one common pin and two
support pins; in general practice, one of the support pin
is left unconnected
(contd.)
23. COST ESTIMATION
23
MATERIAL/COMPONENT NOs COST/UNIT COST
MS Frame 2 Rs.25 Rs.50
MS Shaft 1 Rs.30 Rs.30
Ball bearing 4 Rs.300 Rs.1200
MS Bush rod 1 Rs.30 Rs.30
DC Motor 6 Rs.300 Rs.1800
12V Battery 1 Rs.800 Rs.800
Wheels 6 Rs.35 Rs.210
PCB 1 Rs.40 Rs.40
Wire plug 6 Rs.15 Rs.90
Connecting wires 5m Rs.40 Rs.40
SPDT switch 3 Rs.5 Rs.15
Battery cap 2 Rs.2 Rs.4
24. COST ESTIMATION
24
PROCESS COST
Frame cutting Rs.50
Bush machining Rs.250
Welding Rs.100
Lathe operation Rs.100
Drilling Rs.50
Labor cost:Labor cost:
TOTAL COST ESTIMATION IS Rs.4859
(contd.)
25. FAILURES
25
Initially the rocker and bogie link are
made from 1mm thickness stainless
Steel sheets; Which resulted in failure
due to bending of the links which was
the effect of drilling operation and
excessive load condition.
A bearing was lost due to the
uneven and irregular fitting of the
Shaft and bush. The bearing was
Broke to disassemble the bearing
bush and the shaft
26. FAILURES
26
During the assembly of shaft and the bearing an 8mmDuring the assembly of shaft and the bearing an 8mm
MS rod was found to be a loose fit with a 8mm ID bearing.MS rod was found to be a loose fit with a 8mm ID bearing.
This was a failure due to error in measuring the diameterThis was a failure due to error in measuring the diameter
of the rod during purchase. Due to presence of chip at theof the rod during purchase. Due to presence of chip at the
tip of the rod; it was wrongly measured as 8mm;tip of the rod; it was wrongly measured as 8mm;
but was actually 7.5mm.but was actually 7.5mm.
(contd.)
27. CONCLUSION:
27
• The various components of the rocker bogie is assembled and the
total weight of the frames and shaft is calculated to be 1.3Kg.
• In reference to the specification of the DC motor, the allowable net
reaction on the motor is 1.5Kg. Hence the design is safe.
• This is a wide field of study which is very less explored. So this gave us
the motivation for the development of this rocker bogie suspension
system in a cost effective manner.
• In future rocker bogie mechanism can be used in defense related
operations and also in wheelchairs for climbing stairs.
28. FUTURE SCOPE
28
• With the development in technology the rover can be used for
reconnaissance purposes with the cameras installed on
the rover and minimizing the size of rover
• By the development of a bigger model it can be used for
transporting humans and material through a rough terrain
or obstacles containing regions like stairs
• It can also be used for geological mapping of unknown terrains
as it can even provide live video feed and images of the
terrains being explored
29. REFERENCES
29
• "NASA Patent Abstracts Bibliography, Section 1. Abstracts”
June 1990: 19. ARTICULATED SUSPENSION SYSTEM
• IOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE)
e-ISSN:2278-1684, p-ISSN:2320-334X, Vol. 12,
Issue 3 Ver. III (May-June 2015) , PP64-67
• Synge J L and B A Griffiths : Principles of Mechanics,
Section 6.3, McGraw-Hill Kogakusha Ltd,3rd Edition, 1970.