This document discusses the design of a new suspension mechanism for rovers intended to operate on rough terrain. It begins with an abstract that introduces the challenges of high-speed exploration with rovers and describes the design of a new suspension mechanism using a double-lambda configuration. The document then provides background on rover missions and suspension designs, before focusing on the analytical modeling and computer simulation of the new suspension mechanism to analyze its kinematics and dynamics.
The document describes the design and fabrication of a rocker bogie mechanism. It discusses:
1) The introduction of the rocker bogie suspension system used on Mars rovers and its ability to maintain contact over uneven terrain.
2) The objectives of the project to optimize speed while preventing flipping and increase cost effectiveness for exploration and other applications.
3) The related concepts of traction, stability, and mobility required for the rover to traverse rough terrain and obstacles.
Wheel diameter and RPM calculations are provided to design wheels that can achieve various speeds over different terrains. The requirements, applications, and future scope of the rocker bogie mechanism are also summarized.
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.
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
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.
This document discusses the rocker-bogie suspension system used on past and present Mars rovers. It provides background on NASA's Mars Exploration Rovers (MER) Spirit and Opportunity from 2004, which used a rocker-bogie system to allow the rovers to traverse rough terrain. More recently, NASA's Curiosity rover from 2011 also employed a rocker-bogie suspension to enable it to climb over obstacles larger than its wheels while on Mars. The document reviews key features of rover mobility systems, such as autonomous navigation and specialized wheel designs, that have enabled success in prior Mars missions.
This document describes the design and fabrication of a rocker bogie mechanism. The rocker bogie system is a suspension used on Mars rovers to allow independent wheel movement over obstacles. The design includes two rocker arms that allow the left and right wheels to climb obstacles individually. Calculations are shown for tilt angle, wheel base, link lengths, and motor specifications. Components include shafts, links, wheels, bearings, and motors. The advantages of the rocker bogie system include its ability to climb obstacles twice the wheel diameter and distribute load evenly across independently moving wheels.
Introduced gearless power transmission arrangement used for skew shafts. In this transmission system no. of pins or links used must be odd..3,5,7,9…..& centers of any two pins or links hole must not be on that line which represent the diameter of the shaft. If more pins or links used motion will be smoother, but increase in no. of pins or links not at the cost of strength of the shaft. Pins or links are fixed (may be permanent of temporary) in the drilled holes at the both shaft ends due to which motion is transferred. The dimensions of the pins or links and angle for the pins are all given very precisely, holes drilled very accurately.
Proposed arrangement used for skew shafts at any angle & if there is a need we can change the angle between shafts during motion or during intermittent motion with any profile of shafts having rotational motion along its own axis. The Working of this arrangement is very smooth & use very effectively with a very minimum amount of power losses.
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.
The document describes the design and fabrication of a rocker bogie mechanism. It discusses:
1) The introduction of the rocker bogie suspension system used on Mars rovers and its ability to maintain contact over uneven terrain.
2) The objectives of the project to optimize speed while preventing flipping and increase cost effectiveness for exploration and other applications.
3) The related concepts of traction, stability, and mobility required for the rover to traverse rough terrain and obstacles.
Wheel diameter and RPM calculations are provided to design wheels that can achieve various speeds over different terrains. The requirements, applications, and future scope of the rocker bogie mechanism are also summarized.
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.
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
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.
This document discusses the rocker-bogie suspension system used on past and present Mars rovers. It provides background on NASA's Mars Exploration Rovers (MER) Spirit and Opportunity from 2004, which used a rocker-bogie system to allow the rovers to traverse rough terrain. More recently, NASA's Curiosity rover from 2011 also employed a rocker-bogie suspension to enable it to climb over obstacles larger than its wheels while on Mars. The document reviews key features of rover mobility systems, such as autonomous navigation and specialized wheel designs, that have enabled success in prior Mars missions.
This document describes the design and fabrication of a rocker bogie mechanism. The rocker bogie system is a suspension used on Mars rovers to allow independent wheel movement over obstacles. The design includes two rocker arms that allow the left and right wheels to climb obstacles individually. Calculations are shown for tilt angle, wheel base, link lengths, and motor specifications. Components include shafts, links, wheels, bearings, and motors. The advantages of the rocker bogie system include its ability to climb obstacles twice the wheel diameter and distribute load evenly across independently moving wheels.
Introduced gearless power transmission arrangement used for skew shafts. In this transmission system no. of pins or links used must be odd..3,5,7,9…..& centers of any two pins or links hole must not be on that line which represent the diameter of the shaft. If more pins or links used motion will be smoother, but increase in no. of pins or links not at the cost of strength of the shaft. Pins or links are fixed (may be permanent of temporary) in the drilled holes at the both shaft ends due to which motion is transferred. The dimensions of the pins or links and angle for the pins are all given very precisely, holes drilled very accurately.
Proposed arrangement used for skew shafts at any angle & if there is a need we can change the angle between shafts during motion or during intermittent motion with any profile of shafts having rotational motion along its own axis. The Working of this arrangement is very smooth & use very effectively with a very minimum amount of power losses.
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.
The document describes a rocker-bogie suspension mechanism for a rover robot. It discusses how mobile robots can be classified based on their locomotion, suspension, steering, and other properties. The rocker-bogie suspension allows a rover to traverse rough terrain by providing independent wheel movement and high ground clearance. Examples of past rover robots discussed include Lunakhod, NASA's Sample Return Rover, and the Mars Exploration Rovers. Applications mentioned include planetary exploration, operations in dangerous areas like nuclear plants, and potential future uses like indoor service robots.
The document discusses gear drive systems, specifically focusing on fundamental gear operation and maintenance. It covers why gears are used for power transmission, the basics of how gears transmit motion through conjugate action, common gear tooth profiles like involute and cycloidal curves, and considerations for gear design and lubrication. Involute tooth profiles are most widely used due to advantages like simple manufacturing, ability to transmit motion at varying center distances, and constant pressure angle providing smooth operation. Proper lubrication and avoiding interference or undercutting are important for gear performance and lifespan.
Here are the key problems identified in the document:
1. Existing suspension systems used in heavy loading vehicles and rovers fail to perform adequately under conditions of lower gravity, such as those found on Mars. They have difficulty absorbing shocks in these environments.
2. Current rover designs are complex, using many wheels or legs, making them prone to mechanical failures in harsh environments like Mars.
3. Conventional suspension systems installed in heavy loading vehicles have slow speeds of motion, which disrupt their ability to adequately absorb shocks from the wheels. Their gearing must be reduced significantly to climb over obstacles, further reducing speed.
4. To design and control complex rovers with rocker-bogie suspensions, detailed analytical models
Unit-6: Gyroscope, of Dynamics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
Industrial robots have a variety of specifications that must be considered when selecting a robot for a particular application. These include the robot's axes of movement, range of motion, speed, payload, accuracy, and repeatability. The document provides details on common axis specifications, including the number of axes, range of movement, speed, and accuracy measurements. It also lists other important robot specifications like weight, power requirements, and work envelope. Selection of a suitable robot involves using multi-criteria decision making to evaluate robots based on their specifications and the weights of different criteria for the target application. Future trends suggest robots will become more lightweight, compact, and integrated with sensors and vision systems to enable safer human-robot collaboration.
The document discusses different types of drive systems including electric, hydraulic, and pneumatic. It provides details on the basic working principles of hydraulic and pneumatic systems, which use enclosed fluids and pressure to generate motion and force. Hydraulic systems use high-density liquids and pumps to transfer pressure through fluid, while pneumatic systems use compressed air. Both systems have advantages like precision and power transfer, though pneumatic systems tend to have lower costs and maintenance needs. Examples of applications that commonly use hydraulic and pneumatic drive systems are also outlined.
Gyroscopes are devices that use the principles of angular momentum to measure or maintain orientation. They were first developed in the early 19th century and have since found applications in navigation, aircraft, ships, automobiles, and electronics. Gyroscopes work by producing gyroscopic forces that cause the spinning object to resist changes to its orientation when external torques are applied. They are used in applications like remote controlled vehicles, spacecraft, aircraft autopilots, ships, motorbikes, smartphones, and computer peripherals to help maintain stability and orientation.
Presentation on All Terrain Vehicle (Rocker Bogie Mechanism)MANASADEEP
1) Five students designed and built a rocker bogie suspension system inspired by Mars rovers.
2) The rocker bogie system uses linked rocker arms and bogies to lift each wheel over obstacles independently, allowing the rover to traverse rough terrain.
3) Testing showed the design was effective and stable with wheels maintaining contact over obstacles, and the system weight was within motor limits.
The document provides a history of robotics, describing how robots were first depicted in fiction in the 1920s play R.U.R. and Isaac Asimov devised robot laws of behavior in 1950. It discusses the first successful programmable robot developed by George Devol in 1954. The document also summarizes the main types of industrial robots including manipulators, loading devices, and freely programmable robots. It provides examples of early industrial robots like Unimate and describes key components and processes of industrial robot systems.
Design and analysis of spider robot used as agricultural sprayerYuvraj Pather
8-legged walking spider robot based on klann mechanism capable of walking on uneven terrain. The robot is mounted with a mini sprayer which can be used for agricultural spraying.
This project thesis is made by a group of mechanical engineering students as a final semester project.The project thesis data is collected by referring many other project work data and research papers which are easily available online some of them we also mention in the reference chapter.
***We are uploading this thesis as a refrence to other students and interested personnel's so it will be helpful for them. We don't have any intention of provoking any one.***
We work very hard for completing this thesis and will be very happy if anyone wants to continue on this project and make it more advanced.
Contact details are provided at the end of the thesis feel free to ask related to the project. Peace
IRJET- Designing and Manufacturing of Stair Climbing TrolleyIRJET Journal
This document describes the design and manufacturing of a stair climbing trolley. The trolley was designed to transport heavy loads up stairs with less effort than carrying them manually. It uses a tri-lobed wheel frame assembly with three wheels on each side to climb stairs. A DC gear motor provides power to rotate the wheel assembly and gears are used to reduce the wheel speed. The motor is connected to a battery and switch. The trolley was tested and showed encouraging results for transporting loads up stairs with less effort than current methods. It has potential applications for transporting goods in buildings without elevators. The design aims to provide an efficient and user-friendly way to move loads up stairs with minimal physical effort.
Rigid couplings are used to join two precisely aligned shafts for power transmission. They maintain a fixed relationship between the shafts with no relative motion. Rigid couplings are simple and economical, with low moment of inertia. They are precision-machined from bar stock for strength and tight tolerances. Rigid couplings only work with precisely aligned shafts and can fail if operated beyond their design capabilities or with shaft misalignment.
Design & Fabrication of Film Frame by Geneva MechanismSuchit Moon
This document describes the workings of a Geneva drive mechanism used in film projectors. A Geneva drive converts continuous rotational motion into intermittent motion, allowing a film to advance frame by frame. It consists of a driver wheel connected to a pin that moves within slots on a Geneva cross/driven wheel. As the pin rotates, it indexes the driven wheel one slot at a time. In a film projector, this intermittent motion of the Geneva cross drives a sprocket that advances the film, while a shutter blocks light during frame transitions to produce the illusion of continuous motion on screen. The document outlines the key components and working principles of the Geneva drive and intermittent film transport mechanism.
This document summarizes a gearless power transmission system. It discusses the need for gearless transmission to increase transmission efficiency. The gearless system uses bent links and sliders to transmit power between shafts at 90 degree angles without using gears. It has applications in tower clocks, drilling machines, and other applications where power needs to be transmitted at various angles. The gearless system has advantages over geared systems in cost, simplicity, and ability to transmit power at any angle. However, it is limited to lower torque applications compared to geared systems. Overall, the document presents the working, applications, advantages and limitations of a gearless transmission system.
Analysis and simulation of a rocker bogie exploration roverAnkush Mukherjee
This document summarizes a study analyzing and simulating a rocker-bogie exploration rover. Key points:
- Models of the mechanics and kinematics of the rocker-bogie rover configuration are presented to aid in design and control.
- An efficient method is outlined for solving the rover's inverse kinematics and performing quasi-static force analysis, accounting for factors like the manipulator, actuator limits, and wheel slip.
- A physical model is developed of the Lightweight Survivable Rover (LSR-1) rocker-bogie rover prototype. Experimental results confirm the validity of the models.
Contents
Introduction to industrial robots
Application of robots in different areas
Application of robot in manufacturing industries
Types of industrial robots and their application
Advantages of industrial robots
Disadvantages of industrial robots
References
Smart Traction on Solar Powered Space RoversIOSR Journals
This document summarizes a research paper on developing a solar-powered space rover with improved traction and obstacle avoidance capabilities. The proposed rover uses infrared sensors to detect obstacles and a microcontroller to manipulate the rover's direction. It also features a solar tracking mechanism to increase power generation and a battery system for energy storage. Simulation results show the rover is able to efficiently detect and avoid obstacles while mapping its environment and navigating to targets using only solar power.
The document outlines the design of an advanced lunar rover. It discusses past rover designs like the Sojourner, Spirit, and ATHLETE rovers as inspiration. Key areas of improvement identified include navigating different terrains flexibly, minimizing energy usage, and negotiating surfaces of varying hardness. The report then covers considerations for the lunar environment like abrasion, vacuum welding, and electrostatic properties of lunar dust. Components are selected that have a proven legacy from past successful rover designs to operate reliably in the harsh lunar conditions. The design focuses on a rocker-bogie suspension system and flexible drive mechanisms to help the rover navigate uneven and varied lunar terrain.
The document describes a rocker-bogie suspension mechanism for a rover robot. It discusses how mobile robots can be classified based on their locomotion, suspension, steering, and other properties. The rocker-bogie suspension allows a rover to traverse rough terrain by providing independent wheel movement and high ground clearance. Examples of past rover robots discussed include Lunakhod, NASA's Sample Return Rover, and the Mars Exploration Rovers. Applications mentioned include planetary exploration, operations in dangerous areas like nuclear plants, and potential future uses like indoor service robots.
The document discusses gear drive systems, specifically focusing on fundamental gear operation and maintenance. It covers why gears are used for power transmission, the basics of how gears transmit motion through conjugate action, common gear tooth profiles like involute and cycloidal curves, and considerations for gear design and lubrication. Involute tooth profiles are most widely used due to advantages like simple manufacturing, ability to transmit motion at varying center distances, and constant pressure angle providing smooth operation. Proper lubrication and avoiding interference or undercutting are important for gear performance and lifespan.
Here are the key problems identified in the document:
1. Existing suspension systems used in heavy loading vehicles and rovers fail to perform adequately under conditions of lower gravity, such as those found on Mars. They have difficulty absorbing shocks in these environments.
2. Current rover designs are complex, using many wheels or legs, making them prone to mechanical failures in harsh environments like Mars.
3. Conventional suspension systems installed in heavy loading vehicles have slow speeds of motion, which disrupt their ability to adequately absorb shocks from the wheels. Their gearing must be reduced significantly to climb over obstacles, further reducing speed.
4. To design and control complex rovers with rocker-bogie suspensions, detailed analytical models
Unit-6: Gyroscope, of Dynamics of machines of VTU Syllabus prepared by Hareesha N Gowda, Asst. Prof, Dayananda Sagar College of Engg, Blore. Please write to hareeshang@gmail.com for suggestions and criticisms.
Industrial robots have a variety of specifications that must be considered when selecting a robot for a particular application. These include the robot's axes of movement, range of motion, speed, payload, accuracy, and repeatability. The document provides details on common axis specifications, including the number of axes, range of movement, speed, and accuracy measurements. It also lists other important robot specifications like weight, power requirements, and work envelope. Selection of a suitable robot involves using multi-criteria decision making to evaluate robots based on their specifications and the weights of different criteria for the target application. Future trends suggest robots will become more lightweight, compact, and integrated with sensors and vision systems to enable safer human-robot collaboration.
The document discusses different types of drive systems including electric, hydraulic, and pneumatic. It provides details on the basic working principles of hydraulic and pneumatic systems, which use enclosed fluids and pressure to generate motion and force. Hydraulic systems use high-density liquids and pumps to transfer pressure through fluid, while pneumatic systems use compressed air. Both systems have advantages like precision and power transfer, though pneumatic systems tend to have lower costs and maintenance needs. Examples of applications that commonly use hydraulic and pneumatic drive systems are also outlined.
Gyroscopes are devices that use the principles of angular momentum to measure or maintain orientation. They were first developed in the early 19th century and have since found applications in navigation, aircraft, ships, automobiles, and electronics. Gyroscopes work by producing gyroscopic forces that cause the spinning object to resist changes to its orientation when external torques are applied. They are used in applications like remote controlled vehicles, spacecraft, aircraft autopilots, ships, motorbikes, smartphones, and computer peripherals to help maintain stability and orientation.
Presentation on All Terrain Vehicle (Rocker Bogie Mechanism)MANASADEEP
1) Five students designed and built a rocker bogie suspension system inspired by Mars rovers.
2) The rocker bogie system uses linked rocker arms and bogies to lift each wheel over obstacles independently, allowing the rover to traverse rough terrain.
3) Testing showed the design was effective and stable with wheels maintaining contact over obstacles, and the system weight was within motor limits.
The document provides a history of robotics, describing how robots were first depicted in fiction in the 1920s play R.U.R. and Isaac Asimov devised robot laws of behavior in 1950. It discusses the first successful programmable robot developed by George Devol in 1954. The document also summarizes the main types of industrial robots including manipulators, loading devices, and freely programmable robots. It provides examples of early industrial robots like Unimate and describes key components and processes of industrial robot systems.
Design and analysis of spider robot used as agricultural sprayerYuvraj Pather
8-legged walking spider robot based on klann mechanism capable of walking on uneven terrain. The robot is mounted with a mini sprayer which can be used for agricultural spraying.
This project thesis is made by a group of mechanical engineering students as a final semester project.The project thesis data is collected by referring many other project work data and research papers which are easily available online some of them we also mention in the reference chapter.
***We are uploading this thesis as a refrence to other students and interested personnel's so it will be helpful for them. We don't have any intention of provoking any one.***
We work very hard for completing this thesis and will be very happy if anyone wants to continue on this project and make it more advanced.
Contact details are provided at the end of the thesis feel free to ask related to the project. Peace
IRJET- Designing and Manufacturing of Stair Climbing TrolleyIRJET Journal
This document describes the design and manufacturing of a stair climbing trolley. The trolley was designed to transport heavy loads up stairs with less effort than carrying them manually. It uses a tri-lobed wheel frame assembly with three wheels on each side to climb stairs. A DC gear motor provides power to rotate the wheel assembly and gears are used to reduce the wheel speed. The motor is connected to a battery and switch. The trolley was tested and showed encouraging results for transporting loads up stairs with less effort than current methods. It has potential applications for transporting goods in buildings without elevators. The design aims to provide an efficient and user-friendly way to move loads up stairs with minimal physical effort.
Rigid couplings are used to join two precisely aligned shafts for power transmission. They maintain a fixed relationship between the shafts with no relative motion. Rigid couplings are simple and economical, with low moment of inertia. They are precision-machined from bar stock for strength and tight tolerances. Rigid couplings only work with precisely aligned shafts and can fail if operated beyond their design capabilities or with shaft misalignment.
Design & Fabrication of Film Frame by Geneva MechanismSuchit Moon
This document describes the workings of a Geneva drive mechanism used in film projectors. A Geneva drive converts continuous rotational motion into intermittent motion, allowing a film to advance frame by frame. It consists of a driver wheel connected to a pin that moves within slots on a Geneva cross/driven wheel. As the pin rotates, it indexes the driven wheel one slot at a time. In a film projector, this intermittent motion of the Geneva cross drives a sprocket that advances the film, while a shutter blocks light during frame transitions to produce the illusion of continuous motion on screen. The document outlines the key components and working principles of the Geneva drive and intermittent film transport mechanism.
This document summarizes a gearless power transmission system. It discusses the need for gearless transmission to increase transmission efficiency. The gearless system uses bent links and sliders to transmit power between shafts at 90 degree angles without using gears. It has applications in tower clocks, drilling machines, and other applications where power needs to be transmitted at various angles. The gearless system has advantages over geared systems in cost, simplicity, and ability to transmit power at any angle. However, it is limited to lower torque applications compared to geared systems. Overall, the document presents the working, applications, advantages and limitations of a gearless transmission system.
Analysis and simulation of a rocker bogie exploration roverAnkush Mukherjee
This document summarizes a study analyzing and simulating a rocker-bogie exploration rover. Key points:
- Models of the mechanics and kinematics of the rocker-bogie rover configuration are presented to aid in design and control.
- An efficient method is outlined for solving the rover's inverse kinematics and performing quasi-static force analysis, accounting for factors like the manipulator, actuator limits, and wheel slip.
- A physical model is developed of the Lightweight Survivable Rover (LSR-1) rocker-bogie rover prototype. Experimental results confirm the validity of the models.
Contents
Introduction to industrial robots
Application of robots in different areas
Application of robot in manufacturing industries
Types of industrial robots and their application
Advantages of industrial robots
Disadvantages of industrial robots
References
Smart Traction on Solar Powered Space RoversIOSR Journals
This document summarizes a research paper on developing a solar-powered space rover with improved traction and obstacle avoidance capabilities. The proposed rover uses infrared sensors to detect obstacles and a microcontroller to manipulate the rover's direction. It also features a solar tracking mechanism to increase power generation and a battery system for energy storage. Simulation results show the rover is able to efficiently detect and avoid obstacles while mapping its environment and navigating to targets using only solar power.
The document outlines the design of an advanced lunar rover. It discusses past rover designs like the Sojourner, Spirit, and ATHLETE rovers as inspiration. Key areas of improvement identified include navigating different terrains flexibly, minimizing energy usage, and negotiating surfaces of varying hardness. The report then covers considerations for the lunar environment like abrasion, vacuum welding, and electrostatic properties of lunar dust. Components are selected that have a proven legacy from past successful rover designs to operate reliably in the harsh lunar conditions. The design focuses on a rocker-bogie suspension system and flexible drive mechanisms to help the rover navigate uneven and varied lunar terrain.
Sathya Maddukuri gave a presentation on space robotics at Adams Engineering College. The presentation covered an introduction to space robotics, the basic working principles of robots in space including sensors, actuators and software. It discussed the evolution of robots from early prototypes like Shakey to current hybrid systems. The key technologies that enable space robots to navigate and map terrain including obstacle avoidance were also covered. The different types of space robots such as planetary rovers and in-orbit operators were described. Current and future space missions utilizing robots were highlighted and it was concluded that robotics has advanced space exploration by making it more cost-effective and reducing risks to human life.
Sathya Maddukuri gave a presentation on space robotics at Adams Engineering College. The presentation introduced space robotics, describing how robots can operate in hostile space environments in place of humans. It covered the basic working principles of robots, including sensors, actuators, and software. Examples of early robots like Shakey and current planetary rovers were provided. The presentation discussed key robot technologies like mapping and navigation. It also described different types of space robots and concluded that robots have made space exploration more cost effective and opened new frontiers of discovery.
This document discusses space robotics and provides examples of current and potential future applications. It covers the importance of space robots in performing tasks less expensively and with less risk than human astronauts. Examples are given of current space robots, including Mars rovers and Robonaut, and the technological capabilities needed include mobility, manipulation, and operating in extreme environments with communication delays. Fundamental research challenges are outlined in areas like navigation and force control. International efforts in space robotics from countries and agencies like NASA, Japan, Europe, and the UK are also summarized. The future scope of space robotics is expected to include more autonomous planetary rovers and robots able to precisely assemble and service hardware despite time delays.
This document discusses space robotics and some of its applications. It begins by explaining the importance of space robotics due to the harsh and hazardous conditions of outer space. Space robots can perform tasks less expensively and with less risk than humans. The document then discusses some of the fundamental research challenges in areas like mobility, manipulation, and time delay. It provides examples of applications like planetary rovers and robots used on the International Space Station. In closing, it briefly discusses robotic systems like Robonaut that combine mobility and manipulation capabilities.
This document describes the design and development of an intelligent rover for Mars exploration. Key points:
- The rover features an 8-wheeled drive mechanism that combines rocker wheels and spider-leg wheels to allow it to traverse rugged terrain and climb heights greater than three times the diameter of its wheels.
- Actuator-powered wheels allow the slope of the rover to be adjusted for stability over a wide range of inclinations. Springs and dampers provide traction over negatively sloped or vertically dropped surfaces up to 1m.
- Sensors and microcontrollers allow semi-autonomous operation to avoid hazards through automated reflexes. The system uses Arduino, Raspberry Pi, and other microprocessors for control
This document discusses a case study on the integration of microelectromechanical systems (MEMS) on Mars rovers. It first provides background on space robotics and discusses challenges in designing robots for space like withstanding zero gravity and thermal vacuums. It then examines the structures of space robots including their joints, arms, wrists, and grippers. Specific examples of space robots are described like the shuttle robot arm and rovers on Mars. The case study focuses on how MEMS have been implemented on later Mars rovers to help enable scientific exploration of the planet. In conclusion, robots have played a huge role in space research by performing dangerous tasks and making discoveries in place of humans.
Running head GROUP PROJECT1GROUP PROJECT3.docxjeanettehully
The document discusses NASA's Mars 2020 rover mission. The rover will investigate the geological history and potential habitability of Mars. It will cache sample containers for a future sample return mission. The rover uses a similar design as the Curiosity rover, with upgrades like improved landing accuracy. It is powered by a Multi-Mission Radioisotope Thermoelectric Generator and lithium-ion batteries. The document also summarizes the Curiosity and Spirit rover missions and their designs, which included solar power, radioisotope generators, wheels, computers, and communication systems.
Robotic systems play a crucial role in space exploration by performing tasks efficiently and reducing costs. They are used for planetary exploration, asteroid mining, satellite servicing, and assisting astronauts. For example, NASA's Mars rovers have expanded knowledge of Mars, and companies are developing robots for asteroid mining and satellite maintenance. Future applications include planetary drones for aerial reconnaissance and humanoid robots for assisting astronauts during space missions.
humans are still involved and controlling the missions but without risking precious lives
in the long, maintaining robots, inanimate beings, in space is much easier and cheaper than living beings
robots have the capacity to be built to explore environments humans can’t
robots are faster and more efficient in observations and conclusions, they don’t need computers to certify information, they have it programmed… they’re brain and bulk in one lighter specimen
robots now have greater dexterity with new technologies that allow them to have greater dexterity than humans. This comes in handy when dealing with precious, rare space debris
CONS
sending robots into space doesn’t catch the public attention in the same way human exploration does
if something goes wrong in space and the robot’s system depletes, without a human it’ll take a lot to get the robot’s system rebooted again from Earth
don’t have human reasoning… they might do things and go places that are unknown and are a danger to them
REFERENCES
www.andrew.cmu.edu/~ycia/robot.html
www.space.mech.tohoku.ac.jp/research/overview/overview.html
www.nanier.hq.nasa.gov/telerobotics-page/technologies/0524.html
www.jem.tksc.nasda.go.jp/iss/3a/orb_rms_e.html
production technology by R. K. Jain
introduction to space robotics by Alex Ellery
The document summarizes a technical seminar presentation about the NASA Curiosity rover currently exploring the planet Mars. It provides details about the Mars Exploration Rover mission objectives of searching for signs of past water activity and environmental conditions favorable for life. It describes the Curiosity rover's launch, landing site in Gale Crater, size, instruments, power source, and ongoing exploration mission to study the chemistry, geology and potential habitability of Mars. In conclusion, the exploration has found evidence that Mars likely had a wet past and is helping scientists learn more about the Red Planet.
IRJET- Design and Fabrication of Rocker Bogie Mechanism using Solar EnergyIRJET Journal
1. The document describes the design and fabrication of a rocker bogie mechanism using solar energy. It discusses the history and design of various planetary rovers that use rocker bogie and other suspension systems.
2. The researchers designed a new rocker bogie mechanism with a double-lambda configuration that allows for higher speeds over rough terrain while maintaining obstacle clearance. They used structural synthesis methods to design and analyze the mechanism.
3. The rover is powered by solar energy through the use of a solar tracking system. It is intended to be a lower-cost alternative to existing rocker bogie rovers while improving traversal speed for exploration.
Classification And Organization of Robotic Arm Design Final revision (1)jefferson Brand
This study analyzed technical data from robotic arms used in spaceflight missions to determine appropriate design features for different environments. Data on accuracy, reach, degrees of freedom, repeatability, payload, and speed was collected from specification documents and engineers for planetary and space-based arms. The data was plotted and showed that planetary arms had shorter reach, fewer degrees of freedom, and less payload capacity than space arms, but were more accurate. Space arms demonstrated better repeatability, longer reach, higher payloads, and more degrees of freedom. The main limitation was missing proprietary data.
Space Debris and Present Active Debris Removal TechniquesV!vEk@nAnD S
The document discusses space debris and present active debris removal techniques. It provides an introduction to space debris, describing the current debris situation and categories. It then discusses various active debris removal concepts and techniques being researched, such as solar sails, lasers, electrodynamic tethers, and capture vehicles. Some of the challenges to implementing effective debris removal are also outlined, such as the technical difficulties, costs, and need for international cooperation and policy.
Snake robots have a unique ability to move through challenging environments that are difficult or dangerous for humans, such as rubble after disasters. The document reviews research on snake robot applications and discusses their potential future uses in India. Snake robots could be used for agriculture, sanitation, firefighting, surveillance, nuclear plant maintenance, exploration, rescue operations, and more. While snake robots have limitations currently, further innovation may help exploit their potential and enable infinite applications. The document concludes snake robots have great scope and applicability in India.
In this paper with the reference of NASA’s MARS Curiosity Rover, this project is meant for a low cost, lightweight and small size unmanned ground vehicle (UGV) which is controlled by NI-myRIO a hardware component of National Instruments can be used for surveying and determining the natural conditions for living beings like identification of gases, collection of picture samples etc., It consists of six individual motors with lightweight chassis for achieving various movements of rover, gas sensors, camera with servos, long-lasting power supply with its required communication tools. The Six wheeled Rover with three or more suspension alignments will move and collect various samples for identification of gases and taking pictures around the astronomical areas automatically by the automated movements.
The document outlines the objectives, phases, launch details, and payloads of India's Mars Orbiter Mission (MOM). Key details include:
- MOM's objectives were to design and realize an orbiter with capability for Earth maneuvers, a 300 day cruise phase, Mars orbit insertion, and on-orbit study of Mars' surface, atmosphere, and climate.
- It describes the 8 phases of MOM, from launch on the PSLV rocket to orbital insertion around Mars in September 2014.
- Payloads included instruments to study the surface, atmosphere, and exosphere of Mars to help understand the potential for life.
- The mission achieved India's goal of successful Mars orbital insertion
This document discusses recent accomplishments and future plans in planetary robotics. It summarizes the MER, MSL/Curiosity, and Chinese lunar missions. Current research focuses on improved autonomy through techniques like visual odometry, machine learning from terrain sensors, and differential wheel control. Upcoming missions include the Mars 2020 rover and ExoMars 2020 rover with flexible wheels. Challenges include ensuring mobility in unknown environments through testing and predictive modeling of wheel-soil interactions.
Null Bangalore | Pentesters Approach to AWS IAMDivyanshu
#Abstract:
- Learn more about the real-world methods for auditing AWS IAM (Identity and Access Management) as a pentester. So let us proceed with a brief discussion of IAM as well as some typical misconfigurations and their potential exploits in order to reinforce the understanding of IAM security best practices.
- Gain actionable insights into AWS IAM policies and roles, using hands on approach.
#Prerequisites:
- Basic understanding of AWS services and architecture
- Familiarity with cloud security concepts
- Experience using the AWS Management Console or AWS CLI.
- For hands on lab create account on [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
# Scenario Covered:
- Basics of IAM in AWS
- Implementing IAM Policies with Least Privilege to Manage S3 Bucket
- Objective: Create an S3 bucket with least privilege IAM policy and validate access.
- Steps:
- Create S3 bucket.
- Attach least privilege policy to IAM user.
- Validate access.
- Exploiting IAM PassRole Misconfiguration
-Allows a user to pass a specific IAM role to an AWS service (ec2), typically used for service access delegation. Then exploit PassRole Misconfiguration granting unauthorized access to sensitive resources.
- Objective: Demonstrate how a PassRole misconfiguration can grant unauthorized access.
- Steps:
- Allow user to pass IAM role to EC2.
- Exploit misconfiguration for unauthorized access.
- Access sensitive resources.
- Exploiting IAM AssumeRole Misconfiguration with Overly Permissive Role
- An overly permissive IAM role configuration can lead to privilege escalation by creating a role with administrative privileges and allow a user to assume this role.
- Objective: Show how overly permissive IAM roles can lead to privilege escalation.
- Steps:
- Create role with administrative privileges.
- Allow user to assume the role.
- Perform administrative actions.
- Differentiation between PassRole vs AssumeRole
Try at [killercoda.com](https://killercoda.com/cloudsecurity-scenario/)
Design and optimization of ion propulsion dronebjmsejournal
Electric propulsion technology is widely used in many kinds of vehicles in recent years, and aircrafts are no exception. Technically, UAVs are electrically propelled but tend to produce a significant amount of noise and vibrations. Ion propulsion technology for drones is a potential solution to this problem. Ion propulsion technology is proven to be feasible in the earth’s atmosphere. The study presented in this article shows the design of EHD thrusters and power supply for ion propulsion drones along with performance optimization of high-voltage power supply for endurance in earth’s atmosphere.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
Optimizing Gradle Builds - Gradle DPE Tour Berlin 2024Sinan KOZAK
Sinan from the Delivery Hero mobile infrastructure engineering team shares a deep dive into performance acceleration with Gradle build cache optimizations. Sinan shares their journey into solving complex build-cache problems that affect Gradle builds. By understanding the challenges and solutions found in our journey, we aim to demonstrate the possibilities for faster builds. The case study reveals how overlapping outputs and cache misconfigurations led to significant increases in build times, especially as the project scaled up with numerous modules using Paparazzi tests. The journey from diagnosing to defeating cache issues offers invaluable lessons on maintaining cache integrity without sacrificing functionality.
Generative AI Use cases applications solutions and implementation.pdfmahaffeycheryld
Generative AI solutions encompass a range of capabilities from content creation to complex problem-solving across industries. Implementing generative AI involves identifying specific business needs, developing tailored AI models using techniques like GANs and VAEs, and integrating these models into existing workflows. Data quality and continuous model refinement are crucial for effective implementation. Businesses must also consider ethical implications and ensure transparency in AI decision-making. Generative AI's implementation aims to enhance efficiency, creativity, and innovation by leveraging autonomous generation and sophisticated learning algorithms to meet diverse business challenges.
https://www.leewayhertz.com/generative-ai-use-cases-and-applications/
Prediction of Electrical Energy Efficiency Using Information on Consumer's Ac...PriyankaKilaniya
Energy efficiency has been important since the latter part of the last century. The main object of this survey is to determine the energy efficiency knowledge among consumers. Two separate districts in Bangladesh are selected to conduct the survey on households and showrooms about the energy and seller also. The survey uses the data to find some regression equations from which it is easy to predict energy efficiency knowledge. The data is analyzed and calculated based on five important criteria. The initial target was to find some factors that help predict a person's energy efficiency knowledge. From the survey, it is found that the energy efficiency awareness among the people of our country is very low. Relationships between household energy use behaviors are estimated using a unique dataset of about 40 households and 20 showrooms in Bangladesh's Chapainawabganj and Bagerhat districts. Knowledge of energy consumption and energy efficiency technology options is found to be associated with household use of energy conservation practices. Household characteristics also influence household energy use behavior. Younger household cohorts are more likely to adopt energy-efficient technologies and energy conservation practices and place primary importance on energy saving for environmental reasons. Education also influences attitudes toward energy conservation in Bangladesh. Low-education households indicate they primarily save electricity for the environment while high-education households indicate they are motivated by environmental concerns.
Software Engineering and Project Management - Software Testing + Agile Method...Prakhyath Rai
Software Testing: A Strategic Approach to Software Testing, Strategic Issues, Test Strategies for Conventional Software, Test Strategies for Object -Oriented Software, Validation Testing, System Testing, The Art of Debugging.
Agile Methodology: Before Agile – Waterfall, Agile Development.
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ABSTRACT
It is obvious that rovers are important vehicles of today’s solar system exploration.
Most of the rover designs have been developed for Mars and Moon surface in order to
understand the geological history of the soil and rocks. Exploration operations need
high speed and long distance traversal in a short mission period due to environmental
effects, climate and communication restrictions. Several mechanisms have been
suggested in recent years for suspensions of rovers on rough terrain. Although their
different mechanisms have found a widespread usage in mobile robotics, their low
operation speed is still a challenging problem. In this research, a new suspension
mechanism has been designed and its kinematic analysis results were discussed.
Standard rocker-bogie suspension mechanism, which has been developed in the late
1990’s, has excellent weight distribution for different positions on rough terrain. 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 high speed operations. This improvement increases the reliability of structure
on field operations and also enables the higher speed exploration with same obstacle
height capacity as rocker-bogie. In this thesis study, new bogie mechanism consisted
of double-lambda mechanisms, which has been firstly presented by Pafnuty Lvovich
Chebyshev in 1869, is solved by analytically to define the positions and singular
configurations. A new structural synthesis formula also has been introduced for such
suspension mechanisms with lower and higher kinematic pairs. By using structural
synthesis methods, a suspension mechanism has been designed with double-lambda
mechanism. Equivalent force and moment functions were also derived with equation
of motion method. The results are confirmed with the computer analysis made by
Visual Nastran 4D®. For this purpose, a computer model has been constructed and
assembled with the same design parameters of NASA Mars Exploration Rovers
(MER1 and MER2).
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CHAPTER 1:- INTRODUCTION/PHILOSOPHY
1.1 THEORY
1.1.1 Introduction
NASA recently started an ambitious exploration program of Mars .Pathfinder is the
first rover explorer in this program.Future rovers will need to travel several kilometers
over periods of months and manipulate rock and soil samples. They will also need to
be somewhat autonomous.Rocker-bogie based rovers are likely candidates for these
missions The physics of these rovers is quite complex.
To design and control these, analytical models of how the rover interacts with its
environment are essential . Models are also needed for rover action planning.Simple
mobility analysis of rocker-bogie vehicles have been developed and used for design
evaluation.In the available published works, the rocker-bogie configuration is
modeled as a planar system.
Improving the performances of a simpler four wheel rover has also been explored .In
this work, actuator redundancy and the position of the center of mass of a vehicle (the
Gophor) is exploited to improve traction. The method relies on real-time
measurements of wheel/ground contact forces, which are difficult to measure in
practice. Traction can also be improved by monitoring the skiding of the rover
wheels on the ground .However, detailed models of the full 3-D mechanics of rocker-
bogie rovers have not been developed. Further models including the manipulator’s
influence are also required to effectively planning and controlling the actions of these
rovers. For example it is important for a planner to be able to predict if a rover can
successfully negotiate a given terrain obstacles, such as a ditch, without being
trapped.
This paper describes a physical model of a rocker-bogie rover, the Lightweight
Survivable Rover (LSR-1). An efficient method of solving its inverse kinematics and
its quasi-static force analysis is outlined. The methods include the effects of the
rover’s manipulator, actuator saturation and tire-slip considerations. A graphical
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interface that enhances the understanding of the physics of the model is also
described.
On July 4, 1997, an orange coloured big ball softly bounced on the surface of Mars
with an unusual robotic vehicle inside. This was the first planetary mission which has
been wide public interest after first man on the moon. Small rover “Sojourner”
conducted scientific experiments for 83 Sols (Mars Days) and took hundreds of
photographs [1]. Roving on another planet came from dream to real by the help of
science and patient ambitious research. This successful mission encouraged the
scientists and NASA to continue the Mars exploration with new rovers.
Figure 1-1: Sojourner examining the rock named “Yogi” (Courtesy of NASA/JPL-Caltech)
Many rovers developed after Sojourner with different features and scientific
objectives. In early days of January 2004, second and third rovers landed different
locations on Mars named Spirit (MER1) and Opportunity (MER2) [2]. Scientific
results of these powerful vehicles are bigger than their physical dimensions. All of the
three rovers’ success and scientific results show that space agencies will continue
robotic geologists frequently in future.
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LITRATURE SURVEY
Similar to the International Standards Organization’s definition of an industrial
robot, mobile robot can be defined as;
“A mobile robot is an autonomous system capable of traversing a terrain with natural
or artificial obstacles. Its chassis is equipped with wheels/tacks or legs and possibly a
manipulator setup mounted on the chassis for handling of work pieces, tools or special
devices. Various preplanned operations are executed based on a preprogrammed
navigation strategy taking into account the current status of the environment.”
This definition any intelligent machine which moves with respect to environment
within limited human interaction (autonomously) called “Mobile robot”.
Mobile robots can be classified by significant properties as;
• Locomotion (Legged, wheeled, limbless, etc.)
• Suspension (Rocker-bogie, independent, soft, etc.)
• Steering (Skid, Ackerman, explicit)
• Control Algorithm (Fully-Autonomous, semi-autonomous)
• Body Flexibility (Unibody, multibody)
• Usage Area (Rough Terrain, even surface, etc.)
• Guidance and Navigation (Star field or Sun detection, GPS, sensor-based)
Mobile robots can be used in several applications. Dangerous area operations
(Nuclear plants), planetary exploration and pipe investigation, extreme temperature
and narrow field investigations (pyramid exploration robots). Moreover, floor
cleaning robots and servant robots are common examples for indoor use. It is not a
dream that, in near future robots will be a part of our daily life.
1.1.2 Locomotion
Locomotion is a process, which moves a rigid body. There is no doubt that a mobile
robot’s most important part is its locomotion system which determines the stability
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and capacity while traversing on rough terrain. The difference of robotic locomotion
is distinct from traditional types in that it has to be more reliable without human
interaction. While constructing a robot, designer must have decided on the terrain
requirements like stability criteria, obstacle height, and surface friction. There is no
only one exact solution while comparing the mobility systems.
There are several types of locomotion mechanisms were designed depending on
nature of the terrain. Locomotion systems can be divided into groups as; wheeled,
tracked, legged (walking robots), limbless (snake and serpentine robots) and hopping
robots. Wheeled rough terrain mobile robots are called as “Rover”.
In nature, insects are the fastest creatures, comparing to body/speed with their
numerous legs. There is no suspicion that we are going to see legged robots more
frequently in future with improved leg control algorithms and new lightweight
materials. Limbless locomotion is another terrain adaptive locomotion type for reptile
creatures. Snakes can move very fast on uneven terrain, additionally, they can easily
climb on trees by their highly flexible body structure.
Although animals and insects do not use wheels, wheeled locomotion has several
advantages for human-made machines. Rovers can carry more weight with highspeed
comparing to walking robots and snake robots. Another advantage of wheeled
locomotion is navigation. Wheeled robot’s position and orientation can be calculated
more precisely than tracked vehicles. Opposite to wheeled locomotion, legged
locomotion needs complex control algorithms for positioning.
1.2 History of Rovers
1.2.1 Lunakhod
The first planetary exploration rover was “Lunakhod” which has been sent Moon 2
times with USSR – Luna missions to gather information around landing site and send
pictures of terrain.
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Figure 1-2: First Planetary Exploration Rover “Lunokhod” (Courtesy of Lavochkin Assoc.)
Lunakhod has guided in real-time by a five-person team at the Deep SpaceCenter near
Moscow, USSR. Lunakhod-2 toured the lunar Mare Imbrium (Sea of Rains) for 11
months in one of the greatest successes travelled 37 km on Moon surface.
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CHAPTER 2:- WORKING PRINCIPLE
1.2.2 Sojourner
In 1996, NASA – Jet Propulsion Laboratory and California Institute of Technology
have designed new rovers with identical structure named Sojourner and Marie-Curie.
These small rovers were only 10.5 kilograms and microwave oven sized. Rover
Sojourner launched with Pathfinder landing module in December 1996. Marie Curie
rover was also planning to send Mars with 2001 mission which has been cancelled .
Figure 1-3: NASA - JPL Sojourner Rover (Courtesy of NASA/JPL-Caltech)
Operators have sent commands via lander Pathfinder and they examined rocks and
soil components of Mars more than 3 months. Sojourner was a breaking point of
exploration rovers with its unique six-wheeled suspension system which can
overcome one and a half wheel diameter height obstacles that is similar to an
automobile passing over a table sized obstacle.
1.2.3 Inflatable Rover
Another alternative to move on a harsh environment is to have big wheels. If a rover
has large wheels compared to obstacles, it can easily operate over most of the Martian
rocky surface. Researches show that inflatable rover with 1.5 meter wheel diameter
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can traverse 99% of the area [16]. Inflatable rover has 3 wheels which are driven by
motors.
Figure 1-4: Inflatable Rover (Courtesy of NASA/JPL-Caltech)
Robot could be able to travel approximately 30 km per hour on Mars surface by its
100-watt power.
1.2.4 Rocky 7
Figure 1-5: Rocky 7 Rover (Courtesy of NASA/JPL-Caltech)
Rocky 7’s design and dimensions are similar to Sojourner. A robotic arm is attached
to the body for investigation. Mobility system changed to 2-wheel steering similar to
Ackerman type [27]. Although this modification decreases the complexity for control
systems, manueverability is restricted.
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1.2.5 Sample Return Rover
Rough terrain mobility of a mobile robot can be increased by center of gravity shifting
methods. A good example to this category is NASA Sample Return Rover (SRR)
which has been designed to collect soil and stone sample from Mars surface. SRR has
active suspension system with variable angle between linkages
Figure 1-6: Sample Return Rover - (SRR) (Courtesy of NASA/JPL-Caltech)
On inclined surface, active suspension can hold the main body horizontal. Navigation
gets easier by this feature of rover.
1.2.6 Nanorover
Another example to active suspension system is nanorover which was designed for
exploration of small celestial bodies like comets and asteroids. Small dimensions
and lightweight are advantages of this robot.
Figure 1-7: Nanorover with active suspension (Courtesy of NASA/JPL-Caltech)
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Mobility system consists of four wheels with 6 cm diameter. Each wheel connected to
the chassis with independent positioned struts. Since the robot can operate on both
sides (upside-down), overturning is not a problem. Onboard computer can manipulate
the suspension to arrange traction forces .
1.2.7 Micro5
Japanese Lunar rover Micro5 is a five-wheeled rover. Suspension system named
Pegasus; uses a fifth wheel to support the remaining wheels while front wheels
climbing
obstacles. The rover with 100 mm wheel diameter is able to climb 150 mm height
steps
and rocks.
Figure 1-8: Micro5 rover with suspension named Pegasus(Courtesy of Meiji University – Japan)
Pegasus mobility system has 4 active wheels and one extra wheel which is connected
to the body with an actuated joint. When front wheels climb, the fifth wheel carries
some part of the weight to help wheels.
1.2.8 Shrimp
Shrimp is another six-wheeled rover which designed by Swiss Federal Institute of
Technology – EPFL. It has a one front four-bar to climb over obstacles up to two
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wheel diameter without any stability problem. Middle four wheels have parallelogram
bogie which balances the wheel reaction forces during climbing. Single rear wheel
connected directly to the main body also driven by motor to increase the climbing
capacity.
Figure 1-9: Shrimp rover designed by EPFL – Switzerland (Courtesy of EPFL)
1.2.9 Mars Exploration Rovers (MER)
Mars Exploration Rovers are developed designs of Sojourner. Each Mars Exploration
Rover is 1.6 meter long and weighs 174 kilograms. Opposite to previous rover
Sojourner, which was commanded via lander Pathfinder, these robots carry all
required electronic devices on their body. Mobility system is similar to Sojourner
rover with Rocker-Bogie suspension and 4-wheel steering.
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Figure 1-10: Illustration of Mars Exploration Rover (Courtesy of NASA/JPL-Caltech)
1.3 Rover Operations and Future Requirements
Today’s rovers are driven by commands which are sent from ground operators
after tested in 3D computer simulator. Some of the critical motions such as climbing
high slope, driving near crater rim between rocks which have variety of height, rover
motions must be taken under consideration of flight engineers. These operations are
need to be decided by a large operator group, which increases the total cost of the
planetary exploration project.
Figure 1-11: Rocky terrain on the rim of crater Bonneville (Courtesy of NASA/JPL-Caltech)
As the future space exploration trend includes less cost principle, new rover designs
are needed to be more flexible during field operations. Although obstacle detection
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and avoidance algorithms decrease the average speed, restriction of the overall speed
is suspension design of the vehicle. For example, the Mars Exploration Rovers have a
top speed on flat hard ground of 5 centimetres per second. To increase the safety of
the drive, the rover has hazard avoidance software which causes to stop and
reevaluate its position every few seconds. Because of the safety procedures in the
field operations, the average speed can go up to 1 centimeter per second . It is
nonevitable fact that future rovers will reach high speed compared to current speed
with software improvements and with the suspension design.
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3.3 MATERIAL PROCUREMENT AND CONSTRUCTION:-
DESIGN CONSIDERATION
Like all other design matters in engineering, robots are designed according to its
working environment and purpose. Generally, wheeled robots have advantages on
rough, sandy surface with carrying large bodies. Moreover, wheeled robots can rotate
even on a spot without any skidding.
2.1 Suspension
Wheeled locomotion’s main component is its suspension mechanism which connects
the wheels to the main body or platform. This connection can be in several ways like
springs, elastic rods or rigid mechanisms. Most of the heavy vehicles like trucks and
train wagons use leaf springs. For comfortable driving, cars use a complex spring,
damping and mechanism combination. Generally, exploration robots are driven on the
rough surface which consists of different sized stones and soft sand. For this reason,
car suspensions are not applicable for rovers. The requirements of a rover suspension
are;
• As simple and lightweight as possible
• Connections should be without spring to maintain equal traction force on
wheels.
• Distribute load equally to each wheel for most of the orientationpossibilities to
prevent from slipping.
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Figure 2-1: Independent car suspension system with damper and spring
Soft suspension systems with spring reduce vibrations and effects of impacts between
wheel and ground. However, reaction force of pressed spring increases the force that
transmits from wheel to ground. When climbing over an obstacle, higher wheel’s
traction force is more than the lover one which causes slippage.
2.2 Obstacle Capacity
A rover’s obstacle limit generally compared with robot’s wheel size. In four wheel
drive off-road vehicles, limit is nearly half of their wheel diameter. It is possible to
pass over more than this height by pushing driving wheel to obstacle which can be
called as climbing. Step or stair climbing is the maximum limit of obstacles. The
contact point of wheel and obstacle is at the same height with wheel center for this
condition.
Field tests show that Mars mobile robots should be able to overcome at least 1.5 times
height of its wheel diameter. This limitation narrows the mobile robot selection
alternatives and forces scientists to improve their current designs and study on new
rovers.
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Figure 2-2: Definition of capacity
Former rover designs have different capacities. The rocker-bogie suspension which
has been used on NASA Sojourner, Spirit and Opportunity rover can pass over 1.5
wheel diameter obstacles. The “Shrimp III” rover has extensive ability with a
climbing wheel connected by rhombic four-bar has 2 wheel diameter height step
obstacle capacity Although powerful climbing characteristics, rover’s stability loses
its advantage while driving down slope.
All these researches show that most of the rover designs have a climbing capacity
between 1.5 diameters and 2 diameters of wheel. To reach higher capacities, active
climbing methods are required.
2.4 Rocker-Bogie Suspension
Rocker-Bogie suspension has been developed for first Mars rover Sojourner by
NASA – JPL .
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Figure 2-4: Articulated Suspension System (US 4,840,394)
This suspension has 6 wheels with symmetric structure for both sides. Each side has 3
wheels which are connected to each other with two links. Main linkage called rocker
has two joints. While first joint connected to front wheel, other joint assembled to
another linkage called bogie, which is similar to train wagon suspension member. In
later design of articulated suspension system, called rocker-bogie with small changes.
Figure 2-5: Kinematic diagram of Rocker-Bogie suspension
The main advantage of the rocker bogie suspension is load on each wheel isnearly
identical. On different positions, wheels’ normal force equally distributes contrary to
4 wheel drive soft suspensions .
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The connection between symmetrical lateral mechanisms is provided by a differential
mechanism which is located inside the body. Rotation of axles which are connected
two rockers are averaged, thus, vehicle body pitch angle always adapted even if one
side steps over obstacle.
2.5 Wheel Motion
While driving on a flat surface, if there is no slipping, wheel center will move on a
line parallel to the surface with constant velocity. Although, obstacle geometries can
be different, most difficult geometry which be can climbed by wheel is stair type
rectangular obstacle.
Figure 2-6: Wheel passing over same wheel diameter (a) and more than half wheel diameter (b)
height obstacle
In figure 2-6(a), height of the obstacle is same or less than the half diameter of the
wheel. For this condition, the wheel’s instant center of rotation (IC1) is located at the
contact point of the obstacle and wheel. Trajectory of the wheel centers’ during
motion generates a soft curve, thus, horizontal motion of the wheel center does not
break.
Since in figure 2-6 (b), height of the obstacle is more than the half diameter of wheel,
this condition can be classified as climbing. Climbing motion consist of two sub
motions. First one is a vertical motion, which causes a horizontal reaction force on
wheel center . This vertical motion’s instant center (IC2) is at infinity. Second one is a
soft rotation similar to figure 2-6 (a) with instant center of rotation (IC3) at the corner.
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2.6 Advantage of Linear Motion
Although, load distribution advantage of rocker-bogie, a critical problem can occur
when climbing over an obstacle. Wheel forces on opposite direction of motion
produce a moment about pivot joint to rotate bogie.
Figure 2-7: Bogie overturn problem
As we discuss in wheel forces, there are several forces act on wheel on x axis. If the
surface friction of an obstacle is not enough to climb, obstacle force (Fobs) can reach
high values. This problem can also occur while middle wheel actuator failure. Driving
velocity is also restricted by bogie overturn problem. Bogie pitch angle can be
adjusted by active control methods .
An easy solution method for this problem can be a linear motion suspension usage
where obstacle reaction force cannot create any moment.
STRAIGHT LINE MECHANISMS
In machine science, it is important to generate special curves, exact circular motion
and straight line. Dimensional synthesis theories are used to generate a special curve
with coupler. There are different analytical and graphical synthesis methods for
motion generation, function generation and path generation.
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Figure 3-1: Watt’s linkage application on rear-suspension
Linear motion mechanisms have wide usage area in suspension mechanism design.
Most of the suspension members are needed to move on a straight line for lateral
motion of an axle . In theoretically, a four-bar mechanism generates a coupler curve in
6th order equation. Some portion of this curve can be close to a theoretical line with
small deviation which can be neglected . Usually, these mechanisms generate linear
motion from a rotational motion of a crank. For this kind of design, force transmits
from crank to coupler. In suspension designs, force is applied from ground to coupler.
This force generates a moment on crank that balanced with a spring’s reaction force.
4.2.2 Geometric Trajectory of Lambda Mechanism
By using these parameters, the instant positions and trajectory of lambda mechanism
can be drawn as below
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Figure 4-11: Trajectory of one wheel at different positions
Mechanism works linear in approximately 260 degrees angular displacement of crank.
During this motion link B displacement is 80 degrees. This linear part with 490mm
vertical distance is the workspace of the double lambda mechanism. Return motion of
the coupler curve will be out of our study.
4.2.3 Singularity
If a mechanism gets into position where displacement of output link is undefined or
impossible with driving force of input link, this condition called dead position or
singularity [18]. Four-bar mechanism gets singularity if transmission angle β reaches
0 or 180 degrees where input link (coupler) cannot transmit force to output link
(rocker). This problem can be solved with help of other link or inertia effects. If
another force applied from rocker to coupler, mechanism can continue its motion. For
our bogie design we have to avoid from singular positions near workspace in order to
transmit force from one lambda mechanism to other. If one side gets singular angle,
whole mechanism will lock.
Lambda mechanism has two singular configurations like other four-bar mechanisms.
4.2.4 Double-Lambda Mechanism Connection
New bogie design consists of two lambda mechanisms which are connected
symmetrically. Thus, wheels move on a straight line but in opposite direction of each
other. This design balances the reaction forces on each wheel; therefore the traction
force remains same for each wheel whether one wheel is on upper position.
Symmetric connection of two mechanisms is a critical process. Since the both sides of
the bogie will work in linear part of the curve, one side will be opposite position of
other side. While designing this connection we must avoid from singular
configurations of the mechanism.
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Figure 4-14: (a) Connection between two lambda mechanisms, (b) definition of ground
clearance
Symmetric lambda mechanisms are connected to each other with a V-shaped rigid
link. Angle τ can be selected by geometrically. The constraint of this angle is ground
clearance of bogie (hc) and maximum obstacle capacity. For our parameters, optimum
connection angle τ = 1600
.
4.2.5 Adaptation of Double-Lambda Mechanism into Rocker-Bogie
Suspension: LBS
Rocker-bogie mechanism has advantages while distributing load on the wheels nearly
equal. To obtain this useful property, double lambda mechanism can be combined
with former rocker-bogie design.
Figure 4-15: Experimental suspension design LBS
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Linear Bogie Suspension (LBS) has nearly similar off-road capacity with linear bogie
motion. Small angular displacement of rocker which affects linear motion of bogie
can be neglected.
Two planar mechanisms are connected to each other by a differential mechanism.
When one side climbing over obstacle, this mechanism rotates the main body around
the rocker joints by average angle of two sides.
Figure 4-16: Differential gear mechanism between right and left rockers
Rocker
Gear A connected to left, gear B connected to right and C is assembled on the main
platform. In differential mechanisms, all gear ratios are same. That means if gear A
rotates 10 degrees and gear B rotates 20 degrees, main platform will rotate 15 degrees.
4.2.6 Mobility Analysis of LBS Mechanism
Three-dimensional kinematic diagram of whole LBS mechanism is shown in figure 4-
17. We can assume a cardan joint connected between two rockers instead of
differential mechanism for easier calculation.
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Figure 4-17: LBS kinematic diagram
Structural formula with variable general constraint for the mechanical system (4.2) is;
For our mechanism;
P1 – Kinematic pairs with one degree of freedom : 22
P2 – Kinematic pairs with two degrees of freedom (higher kinematic pairs): 12 and 1
universal joint (with 2R)
On the left and right side of the mechanism, we have 8 loops with λ = 3 and 1spatial
mechanism (Cardan joint) λ = 6. Therefore;
Mobility analysis shows that rover suspension mechanism has total 6 degrees of
freedom.
4.2.7MANUFACTUTING PROCESS
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Adapting to terrain parameters, there are different possibilities for rover suspension
like LBS. Spring and damper application to double lambda suspension good solution
for high-speed off-road vehicles.
Figure 4-18: Different applications of lambda bogie suspension
STATIC ANALYSIS
6.1 Wheel Reaction Forces
Figure 6-1: Force diagram of LBS
If bogie is symmetrical, distances between CD and DB will be equal. For this reason,
reaction forces of rear and middle wheels are the identical.
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Moment on point O;
For equilibrium;
the reaction forces will be equal. Due to fact that, for small angular displacements
horizontal displacements will be very small, reaction forces will be very close to each
other. For our design,
to increase climbing capacity.
6.2 PERFORMANCE AND CALCULATIONS.
During operation on rough terrain, another problem is stability of the rover. If a
robot can maintain its balance at all time in freezing position, it can be said that the
robot has static stability. Physically, the boundary for stability criteria is related with
polygon, which consists of contact points of wheels and ground.
Figure 6-2: Stability area consists of contact points
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If center of gravity projection on the ground plane, stays inside of the stability area
robot will be stable. This shape can be narrowed depending on safety factor. The
stability of robot, which is stationary or moving with constant speed, can be defined
with gravitational stability margin . This margin is the minimum distance between
projection of center of gravity on the ground plane to the edge of convex region.
The maximum slope of the terrain where robot can climb is called gradebility.
Maximum downhill and cross-hill gradeability definitions are:
6.2.1 Down-Hill Gradeability
6.2.2 Cross-hill Gradeability
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In equation (6.5) and (6.6), term SM is called safety margin which is a safety factor
for uncertainties of wheel and center of gravity position.
Evaluation of Test Results
After different field and obstacle simulations, LBS design demonstrates a similar
obstacle capacity with rocker-bogie suspension. Advantage of the linear suspension is
its more reliable structure with linear motion. This feature also can be a transition
from quasi-static operation to fast-speed operation of planetary rovers.
Since climbing operations need high surface friction, a vehicle which can climb an
obstacle more than 2 wheel diameters should have an active climbing system. Passive
suspension mechanisms capacity limit depends on wheel diameter where the limit
narrowed by overall size of the robot.
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Chapter 8:- COSTING
8.1 RAW MATERIAL COST:-
The total raw material cost as per the individual materials and their corresponding
rates per kg is as follows,
8.2 COST OF PURCHASED PARTS :-
SR
NO.
DESCRIPTION QTY COST
1 GEARED MOTORS 08 3000
2 BATTERY 01 960
3 Bolts & Nut - 160
4 DPDT SWITCHES 02 90
5 SWITCH BOARD AND
WIRING
01 450
6 MOTOR CLAMP 6 250
The cost of purchase parts = Rs 6420/-
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8.3 TOTAL COST:-
TOTAL COST = Raw Material Cost +Machine Cost + Miscellaneous Cost
+ Cost of Purchased Parts +Overheads
= 12109
Hence the total cost of machine = Rs 12109/-- approx.
Chapter 9:- Advantages and applications
9.1 ADVANTAGES OF ROCKERS BOGIE SUSPENSION SYSTEM:-
1. 5000 kg push force, makes possible suspensioning of heavy sections possible
2. Ease of operation
3. No spring is used.
4. Gradual application of force prevents the chassis damage.
5. Low manufacturing cost.
6. Ease of maintenance.
7. No piston cylinder or fluid is used
9.2 APPLICATIONS
1. Automobile industry
2. Army tankers.
3. Material handling system.
4. Agriculture equipment manufacture.
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Chapter 11:- FUTURE SCOPE
The high costs and dangers associated with space exploration have led NASA and
other private
enterprises to pursue planetary research through the use of unmanned robotic systems.
Continued
interest in lunar, Martian, and deep-space exploration has created a demand for
many surface
rovers, for a variety of research purposes. With the moon, much of the interest
lies within its
potential reserves of frozen water, methane, and ammonia, which have the
potential to be
converted into fuels (Neal, 2009). These moon-made fuels may greatly reduce the
costs of future
space exploration, by reducing the amount of fuel that needs to be transported from
Earth. The
moon‟s potential abundance of Helium-3 is another area of key interest, as it may
be used as a
fuel for clean fusion power plants on Earth (Blewett, Ouyang, & Zheng,
2008). Similarly,
interest in Mars stems from our desire to learn more about its environment and
potential to
support life and future colonization.
While there are many reasons to explore the moon and Mars, few have had
enough economic
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potential to gain direct interest from the private sector. Due to the high cost of space
exploration,
most missions to date have been conducted by NASA and other government-
supported
organizations. However, the continually decreasing cost of technology and economic
potential in
natural resources has led some private companies to pursue space transportation and
exploration
as a core business. For example, Astrobotic Technology, Odyssey Moon, and
Armadillo
Aerospace are just a few companies that are developing rovers and landers for
different space
missions. While companies like these have made progress in the
commercialization of space
exploration, the inherently high costs continue to hinder economic feasibility.
There are many factors contributing to the high cost of space exploration. Launch
vehicle costs
are the most substantial barrier to private enterprise. While the cost associated
with getting
materials to space varies largely based on the size and capacity of the rocket,
some estimates
show that it costs about $10,000 per kg to get material into Low Earth Orbit
(LEO) (Wilcox,
2006). However, some evidence suggests that the costs of planetary exploration are
even higher.
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For example, the company Astrobotic Technology currently has a launch agreement
to send their
lunar rover to the moon, and is offering to integrate third-party payloads on their
lander or rover.
Companies and government organizations have the opportunity to add payloads,
such as
scientific equipment or mini-rovers, at the cost of $1,800,000 per kg
(Astrobotic, 2011). This
large difference in price between getting material to LEO versus the surface of the
moon shows
how prohibitive the costs of planetary exploration can be.
These high launch costs mean that all space vehicles and space-related
technologies must be
thoroughly tested on Earth, before they make the expensive journey to space.
Whether it is
NASA‟s space shuttle, a robotic arm for the international space station, or a surface
exploration
rover, all components and systems are tested in analogous Earth environments.
For planetary
exploration rovers these analog tests are normally conducted in harsh Earth
environments such as 2
the deserts of Arizona or the frozen tundra of the Arctic. Places like these are also
used to test the
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ruggedness of the rovers and their resistance to large temperature swings. They also
have similar
terrain to the Mars or the moon, making them ideal for testing the rover‟s
mobility. While this
type of analog testing is very useful, it is not without its own high costs.
The need to develop specialized high-fidelity systems capable of operating in
harsh earth
environments typically leads to longer development timelines and greater
expenditures. While
specific applications will always require unique designs, there are many
commonalities in
planetary rovers. Issues such as mobility, navigation, and vision, may differ
slightly between
missions but are largely the same in most scenarios. Given these fundamental
characteristics of
many planetary rovers we believe that a modular and ruggedized system meeting
these basic
requirements would aid in the process of developing space-ready technology. There
are currently
many mobile research platforms available, yet few are designed to operate in
the harsh earth
environments that are often used for planetary surface rover testing. By creating a
rover that is
suitable for these types of environments, our goal is to facilitate the development of
rovers and
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their related technologies, in addition to lowering development costs. We also
hope that the
platform developed can be tested and improved upon, to potentially serve as a model
for a rover
that could go to the moon or Mars in the future.
Our mission is to design, develop, and test a rover to serve as a research platform,
suitable for
testing planetary surface exploration technologies in harsh earth environments. The
design will
focus on incorporating features that are believed to be essential for most planetary
exploration
missions including:
1. Mobility and basic navigation
2. Tele-operation and intuitive user controls
3. Low mass and small form-factor
The rover will also aim to be low cost, ruggedized, and modular to allow for easy
additions of
custom or Commercial-Off-The-Shelf (COTS) hardware components. It will also
have sufficient
computing power and standard I/O ports to support a variety of additional payloads.
The goal is
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to provide a platform that can be easily used for the development, testing, and
validation of space
exploration technology, both hardware and software.
Chapter 12:- Conclusion and Result
CONCLUSION
In this thesis study, rover suspension mechanisms have been discussed. Linear motion
mechanism of Chebyshev has been improved and applied for a Mars rover suspension
mechanism. Results of the simulations and position analysis show that linear motion
bogie has good performance during field operations. On the other hand, different
designs should be discussed to improve the capacity of suspension.
This research also shows that it is possible to construct useful mechanisms by
arranging classical four-bar mechanisms. These design possibilities can be discussed
with new structural synthesis formula, which has been introduced and applied on
rover suspension design.
Future studies may continue to discuss dynamic behaviour of the suspension
mechanism. Anyone can see that planetary exploration will be the future robotics
topic with unusual mobility and high stamina robots.
The purpose of this study is to put another stone on the pyramid of scientific
knowledge. Although the art of mechanism design seems like it has lost its popularity
due to the powerful control algorithms, there is no doubt that future robotics study
will continue to search for new mechanisms.
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