Rocker Arm Mechanism uses as in Suspension system.

1. Design/Fabrication of
Rocker-Bogie
Mechanism
Project Guide- Prof. Fazulrul Rahman, Prof. Anil Kumar
Name -
Naman Kr. Yadav (1805440038)
Abhishek Singh (1805440003)
Irfan Khan (1805440029)

2. Introduction
The Rocker Bogie mobility system was designed to be used at
slow speed.It is capable of overcoming obstacles that are on
the order of the size of a wheel. However, when surmounting a
sizeable obstacles, the vehicle motion effectively stops while
the front wheel climbs the obstacles. When operating at low
speed (greater than 10cm/sec), dynamic shocks are minimized
when this happens. For many future planetary missions rover
will have to operate at human level speed. Shocks resulting
from the impact of the front wheel against an obstacle could
damage the payload or the vehicle.

3. Rocker-Bogie Mechanism
Idea and application
One of the major shortcomings of current planetary rovers is that they
slow. In order to be able to overcome significantly rough terrain(i.e.
obstacles more than a few percent of wheel radius) without significant
of flipping the vehicle or damaging the suspension, these robot move
slowly and climb over the obstacles by having wheel left each piece of
suspension over the obstacles one portion at a time NASA’s currently
favoured design, the rocker-bogie usage a two wheeled rocker arm on
a passive pivot attached to a main bogie that is connect differentially to
a main bogie on the other side. The body of the rover is attached to
differential and so is suspended at a an angle i.e average of the two
sides. The ride is further smothen by the rocker which only passes on a
portion of a wheel’s displacement to the main bogie.

4. 2D Sketch

5. Part to Fabricate of Rocker-Bogie
Mechanism

6. Future of Rocker-Bogie
Mechanism
It can be used on moon for inspection.
It can used in terrain areas.
It can be used on future mars missions.
It can be used in zig-zag planes.
It can be used in vehicles for dynamic suspension.

7. Rocker-Bogie Mechanism can be
classified by significant properties as
Locomotion (Logged,wheeled,lombless,etc.)
Suspension (Rocker-bogie,independent,soft,etc.)
Steering (Skid,Ackeman,explicit)
Control Algorithm (Fully-Autonomous,semi-autonomou)
Body Flexibility (Unibody,multibody)
Usage Area (Rough Terrain,even surface, etc.)
Guidance and Navigation (Star field or Sun detection,GPS,sensor-based)

8. Kinematic diagram of Rocker Bogie
Mechanism

9. Wheel
Design

10. Resources Needed
Battery
Screws
6 Wheels
6 Motors/Gear Motor
Motor Shield
Frame/Chassie
Controller
Bus wire
Masking Tape
Roller Bearing

11. Thank You