The book is structured in an easy and logical way that identifies the best steering and suspension designs. The computeraided design cad files and all associated content posted to this website are created, uploaded, managed and owned by third party users. This can be of inside frame type where the main frame and bearings are between the wheels, or more commonly of outside frame type where the main frame and bearings are outside the wheels. This suspension system, introduced with the original mars pathfinder project, is the same design preferred by nasa for nearly. Present day mars rover suspension systems use six wheels but require more than eight motors to drive them.
Following several technology and research rover implementations, the system was successfully flown as part of mars pathfinder s sojourner rover. Oct 06, 2016 among these mobile systems, its the rockerbogie suspension system that was first used for the mars rover sojourner and its currently nasas favored design for rover wheel suspension. The challenges of designing the rockerbogie suspension for. Harrington and chris voorliees abstract over tlie past decade, tlie rocl book competition car suspension is an excellent, well written manual that describes the design evolution of vehicle suspension and steering systems. At high speeds it experiences head on collision of wheels with obstacles. New design, mostly similar to rockerbogie suspension system, has a natural advantage with linear bogie motion which protects the whole system from getting rollover during. The rockerbogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. The main advantage of this mechanism is no suspension required, and total loads are distributed equally over all wheels. The challenge posed by mer was to design a lightweight rocker bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the. The complete design features a bioinspired eightwheeled drive mechanism, an integrated robotic arm along with a stereo vision technique for advanced image processing. Harrington and chris voorliees abstract over tlie past decade, tlie rocl bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1,2. Rocker bogie mechanism 3d cad model library grabcad. The suspension system is how the wheels are connected to and interact with the rover body. The book competition car suspension is an excellent, well written manual that describes the design evolution of vehicle suspension and steering systems.
The design of the suspension system for the wheels is based on heritage from the rocker bogie system on the pathfinder and mars exploration rover missions. Suspension to absorb shocks between the bogie frame and the rail vehicle body. The bogie kit is designed with an awesome rockerbogie suspension making it great for climbing over tough obstacles. Rockerbogie wikipedia mechanical design, mechanical. Based on the rockerbogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. There is one rockerbogie assembly on each side of the rover. Press 1 to right the sections of the suspension, as they sometimes flip over, and z wont. Rocker bogie suspension system sherif farrag december 1, 2015 robot mechanics 1 the human body is a complex integration of intelligent parts in an intelligent way. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers.
The rocker bogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to highspeed traversal over the planar terrain. The ancient fido rover and the sojourner contain 6 independently steered and driven wheels suspended from a rocker bogie mechanism for maximum suspension and ground clearance. The rockerbogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers. The rockerbogie mechanism consists of rocker that attached to a frame and a bogie that connects to rocker link with pivot joint as shown in figure 1. Jul 11, 2012 sojourner rover with 6 wheels and a rocker bogie suspension system generally a rocker bogie system can lead to uneven wheel loads but this can be counteracted when using the setup found in the sojourner rover, more exactly the bogie must be sized to be half of the rocker arm length and the chassis mounting point of the rocker arm has to be at. Sep 19, 20 an analysis method to make the rocker bogie mechanism can climb up a stair is achieved in this paper. The suspension that makes it all possible is the rockerbogie. The design of the suspension system for the wheels is based on heritage from the rockerbogie system on the pathfinder and mars exploration rover missions. While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design. Analysis method of climbing stairs with the rockerbogie. Determination of how the rocker bogie suspension could be broken to enable it to stow within the allotted space was the first challenge faced in the design of the subsystem. Rocker bogie calculations manufactured goods mechanical. Mar, 2017 rocker bogie mechanism design and fabrication 1. Among these mobile systems, its the rockerbogie suspension system that was first used for the mars rover sojourner and its currently nasas favored design for rover wheel suspension.
Mechanical design mechanical engineering go kart parts automobile cx500 suspension design karting diy car bike design. The rockers are connected to the main body with a differential so that the pitch angle of the body is the average of the pitch angles of the rockers. Along with establishing a concept design, robust design parameters are set to minimize performance variation. Its the same suspension weve all seen used by the various rovers ambling around on mars. The rockerbogies are easy to see in pictures of the rovers see pictures below. Development of a rover vehicle with rockerbogie suspension for agricultural inspection duration. The rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. Born and raised in the san francisco bay area, i enjoy photography, im an avid guitarist, i have a dog named sandy, the last book i read is barbarian days by william finnegan, im a fan of playing card games, i love the outdoors and anything that comes with it skiing, surfing, and backpacking are my favorites, i play water polo, and my favorite pastry is a.
Full text of the challenges of designing the rockerbogie. Harrington and chris voorhees abstract over the past decade, the rockerbogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1,2. Mars rover rockerbogie differential alices astro info. An advanced spiderlike rockerbogie suspension system for. A little project that i was working on a couple days ago. In order to mimic the suspension capabilities of the rovers sent to mars by nasa, our rover will incorporate the same rocker bogie suspension system utilized by the mars rovers to traverse an extreme desertlike terrain. Rocker bogie suspension has following disadvantages. Optimal design and kinetic analysis of a stairclimbing. Design and implementation of a rockerbogie suspension for. Mechanical design mechanical engineering go kart parts automobile cx500 suspension design karting diy car bike. Harrington and chris voorhees abstract over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1,2.
Suspension arrangement used in the mars rovers and patented by nasa bickler, 1988. The challenges of designing the rockerbogie suspension for the mars exploration rover brian d. This element of the design was the result of deliberate decisions by the faculty mentors, based on both educational outcomes and competitiveness. Standard rockerbogie suspension mechanism, which has been developed in the late 1990s, has excellent weight distribution for different positions on rough terrain. With nearly 5 of ground clearance and 5 of flex this little bot is so much fun to drive. A more detailed description of the design is given in 10. Jul 21, 2015 development of a rover vehicle with rocker bogie suspension for agricultural inspection duration. The trace of the center of mass of the rocker bogie was considered and the situation that three wheels. Design and implementation of a rockerbogie suspension for a. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, 1 2 3 and which has since become nasas favored design for rovers. An overview of wheeled mobile platform systems smashing. The challenges of designing the rockerbogie suspension. This paper proposes a new dynamic rocker bogie suspension system with two modes of operation. Traction control for a rockerbogie robot with wheelground.
Over the past decade, the rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability. Rocker bogie suspension 2 rocker arms2 bogies middle wheel slippage low vertical travel abilities. The ancient fido rover and the sojourner contain 6 independently steered and driven wheels suspended from a rockerbogie mechanism for maximum suspension and ground clearance. Design analysis of rocker bogie suspension system and access. As the name would suggest, the two primary components of this type of suspension are the rocker and bogie see figure 4. Design analysis of rocker bogie suspension system and. Jun 22, 2011 converting a roomba into a mars rover. Finally, a simulation of a small robot using rocker bogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.
The rockerbogie suspension is a mechanism that enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving. System modelling of rockerbogie mechanism for disaster. What are the disadvantages of the rocker bogie suspension. The rocker bogie mechanism consists of rocker that attached to a frame and a bogie that connects to rocker link with pivot joint as shown in figure 1. The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. This a detailed reading with ideas from all the sectors. Each cad and any associated text, image or data is in no way sponsored by or affiliated with any company, organization or realworld item, product, or good it may purport to portray. Traction control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Design of a robust stair climbing compliant modular robot.
Modifying the geometry of the periphery of the wheels of our robot helps in tackling overhangs. The taguchi method is chosen as an optimization tool to make the trajectory of cm close to the straight line while all wheels keep in contact with the ground during climbing stairs. Feb 21, 2019 for further clarifications refer to activity 4. This is a rocker bogie suspension much like the ones found on mars rovers that balances itself using a combination of a differential in the center and two pivoting bogies, or bars with wheels on either end. Simple car controls, if you know how to drive a car with wasd, youll be fine. Design and analysis of a four wheeled planetary rover. Bogies are subassemblies of wheels that can have a pitch angle with respect to the frame. Good and simple suspension setup that doesnt take up many bodies, but is extremely effective. Based on the rocker bogie mechanism, an optimal design of a stairclimbing wheeltype mobile robot is first presented. Department of mechanical engineering design and fabrication of rocker bogie mechanism by dinesh cm 211414114087 giridharan ts 211414114100 hanirooth c 211414114115 harish t 211414114123 under the guidance ofunder the guidance of drdr. The challenge posed by mer was to design a lightweight rocker bogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to egress from the lander and. All the mars rovers have six wheels and use a rockerbogie suspension system to drive smoothly over bumpy ground.
Rocker bogie suspension with frc components 3d cad model. This paper focuses on the drive mechanism of the rover design. Bogie project gutenberg selfpublishing ebooks read. A bogie may remain normally attached as on many railroad cars and semitrailers or be quickly detachable as the dolly in a road train or in railway bogie exchange. The challenge posed by mer was to design a lightweight rockerbogie suspension that would permit the mobility to stow within the limited space available and deploy into a configuration that the rover could then safely use to. International journal of advance research and innovative ideas in education 3.
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