ROCKER BOGIE ROBOT/ROVER

MINOR PROJECT SYNOPSIS

Submitted in partial fulfilment of B.TECH program

2016-2020

MAHAVIR SWAMI INSTITUTE OF TECHNOLOGY

SOPINAT, HARYANA-131030

Submitted by:

AKASH AGGARWAL JASMEET SINGH

(50255108217) (50455108217)

ROHAN RAHUL KUMAR

(00555108217) (00355108217)

MECHANICAL ENGINEERING

UNDER THE GUIDANCE OF

Asst.Prof.VIKRAM KAPOOR
(MECHANICAL)
 INTRODUCTION
There is an increasing need for mobile robots which are to in unstructured environments
with highly uneven terrain. These robots are mainly used for tasks which humans cannot
do and which are not safe. In Order to achieve these tasks, any mobile robot needs to
have a suitable mobile System according to each situation. Among these mobile systems,
it's the rocker-bogie suspension system that was first used for the mars
Rover sojourner and it's currently NASA'S favoured design for rover Wheel suspension.
The rocker-bogie suspension is a mechanism that enables a six-wheeled vehicle to
passively keep all six wheels in contact with a surface even when driving on severely
uneven terrain. There are two key advantages to this feature. The first is that the wheels'
pressure on ground will be equilibrated. This is extremely important in soft terrain where
excessive ground pressure can result in vehicle sinking into the driving surface. The
second advantage is that while climbing over hard, uneven terrain, all six wheels will
nominally remain in contact With the surface and under bad, helping to propel the
vehicle Over the terrain. Exploration rovers take advantage of this configuration by
integrating each wheel with a drive actuator, maximizing vehicle's motive force
capability. One Of the major shortcomings Of Current rocker- bogie rovers is that they
are slow. h order to be able to overcome significantly rough terrain (i.e., Obstacles more
than a few percent Of wheel radius) without significant risk Of flipping the vehicle or
damaging the suspension, these robots move slowly and climb Over the Obstacles by
having wheels lift each piece Of the suspension Over the Obstacle one porti on at a time.
While performance on rough terrain Obstacles is important, it should be also considered
situations where the surface is flat or it has almost imperceptible obstacles, where the
rover should increase its speed to arrive faster from point A to point B.
 OBJECTIVES OF THE PROJECT

We will be focusing on eliminating shortcomings of the rover. One of the major

shortcomings of current rocker-bogie rovers is that they are slow. In order to be able to
overcome significantly rough terrain without significant risk of flipping the vehicle or
damaging the suspension, these robots move slowly and climb Over Obstacles by having
wheels lift each piece Of the suspension Over the Obstacle one portion at a time. While
performance on rough terrain Obstacles is important, it should be also considered
situations where surface is flat or it has almost imperceptible obstacles where the rover
should increase its speed to arrive faster from point A to point B. The rover is made for
exploration purposes are very costly too. Due to the high cost of space exploration, most
missions to date have been conducted by NASA are 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 are 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
progress in the commercialization of space exploration, the inherently high costs
continue to hinder economic feasibility. We, in India have not conducted any mission for
the exploration purposes. Only mars exploration the rocker bogie can also be used for
military and civil purposes but there also it is needed to be a little cost effective and fast.
Thus our concern during the development of the rover would be optimise the such that
rover do not flip and may travel a title faster too and make it cost effective with
maximum possible rigidity and
 SCOPE OF THE PROJECT
Rocker-bogie suspension System that was first used for the Mars Rover 5joumer ar%i
it's currently NASA's fawred design for rover wheel suspension. This is a very less
explored fieki Of study ard could be into exploration purpose instrument. The need to
develop specialized Systems capable Of operating in harsh earth environments
typically leads to longer development timelines ard greater expenditures. While
specific applications will always require designs, ttEre are many commonalities in
planetary rovers. Ssues such as mobility, navigation, ard vision, may differ slightly
between missions but are largely same in mßt æenarios. Given these furriarnental
characteristics Of many planetary rovers we believe that a modular ard ruggedized
System meeting these basic requirements aid in prtress Of developing space-ready
technology. There are currently many mobile research platforms available yet few are
to cperate in 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 their related technologies, in addition to
Imvering development costs. We abo hope that the platform can be tested ard
improved Loon, to potentially serve as a model for a rover that could go to moon or
Mars in the future. Our mesion is to design, develop, ard 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. The Rocker bogie
Suspension System can be sent for reconnaissance purpose,which epbring
surrounding to give a visualisation to a person or operator sitting somewhere for
carrying the operation, by the help Of a video camera. Hery:e, due to this feature Of
rocker bogie suspension System this can be used in military for visualising the
scenario at a region where a bomb is planted. only this, the rocker bogie s uspension
System can be developed into a wheel chair too to take the patients from one place to
another climbing the stairs on its own. It can also be used for material deli.'ery
purposes. As explained this is a Wide field Of study and very less so this ga ve the
motivation for the development Of this suspension system.
 METHODOLOGY
As the research it find that the rocker bogie system reduces the motion by half
compared to other swspemsion systems becawse each of the bogie's six wheels has an
independent mechanism for motion and in which the two front and two rear wheeLs
have individual steering systems which allow the vehicle to turn in place as O degree
turning ratio. Every wheel aLso has thick cleaLs which provides grip for climbing in
soft sand and scrambling over rocks with ease. In order to overcome venical obstacle
faces, the front wheels are forced against the obstacle by the centre and rear wheels
which generate maximum required torque. The rotation of the front wheel then lifts
the front of the vehicle up and over the obstacle and olmsKK•Ie overtaken. 'Those
wheels which remain in the middle, is then pressed agaimst the obstacle by the rear
wheeLs and pulled agaimst the obsKK•Ie by the front till t he time it is lifted up and
over. At last, the rear wheel is pulled over the obstacle by the front two wheeLs due
to applying pull force. During each wheel's traversal of the obstacle, forward progress
of the vehicle is slowed or completely halted which finally maintain vehicles centre
of gravity. The above said methodology is being practically proved by implementing
it on eight wheel drive ATV system in order to gain maximum advantage by rocker
bogie system.
 DECLARATION BY THE CANDIDATES

We hereby certify that the work which is being presented in this Project report entitled
“ROCKER BOGIE ROBOT/ROVER”in partial fulfillment of requirements for the award
Of degree Of BACHELOR OF TECHNOLOGY in MECHANCAL ENGINEERING,
submitted to the Dept. Of mechanical Engineering, Faculty Of Engg. & Technology,
Mahaveer swami institute of technology, Sonepat (Haryana) is an authentic record Of
Our Own work carried Out during a period from August2019 to December2019 under
supervision Of Asst. Prof.Vikram kapoor The matter presented in this project has not
been submitted to any Other University Institute for the award of B.Tech.
Name (Roll.No.) Signature
1. Akash Aggarwal (50255108217)
2. Jasmeet Singh (50455108217)
3. Rohan (00555108217)
4. Rahul kumar (00355108217)

This is to certify that statement made by candidate is to the best of my knowledge &
belief.

Signature of supervisor