ROUGH TERRAIN VEHICLE USING ROCKER BOGIE

MECHANISM

V. THILLAIAMBALAVANAN 814417114052
G. KAVISUDAR 814417114022
MOHAMMED YUSUF 814417114029
MUTHU GANESH 814417114030
 Abstract

Rocker bogie mechanism is a mechanism primarily used in the mars rovers to

overcome the rough terrains while maintaining stability. It is NASA’s favorite
mechanism for space vehicles & rovers. It consists of two arms with wheel mounted
to each. Both arms are connected through a movable joint. This enables to have a
suspension based mechanism that distributes the vehicle load as evenly as possible
even on bumps and irregular surfaces. The design consists of a spring free
suspension based differential drive system that allows the bogie to move over rocks,
pebbles with ease. The rocker bogie mechanism was designed keeping this in mind
by providing maximum stability in all terrains. Thus we study the design and
fabrication of the rocker bogie mechanism by fabrication of this rough terrain
vehicle using concepts of the bogie mechanism
 INTRODUCTION

The rocker bogie suspension system was first used for the mars rovers and
is currently NASA’s favoured design for rover wheel
suspension. The intelligently designed wheel suspension allows the vehicle
to traverse over very uneven or rough terrain and even climb over small
obstacles. 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. One of the major short
comings of rocker bogie rovers is that they are slow. In order to be able to
overcome significantly rough terrain without any type of risk of flipping the
vehicle or damaging the suspension, these this robots move slowly and
climb over obstacles by having wheels lift each piece of the suspension
over the obstacles one portion at time. This robots are mainly used for tasks
which humans cannot do and are not safe.
BLOCK DIAGRAM
COMPONENTS

 Motors
 Arms
 Joints
 Supporting Frame
 Mounts & fixtures
 Control Circuitry
 WORKING PRINCIPLE

• In order to go over an obstacle, the front wheels are forced against the obstacles by
the rear wheels. The rotation of the front wheel then lifts the front of the vehicle
up and over the obstacle. The middle wheel is pressed against the obstacle by the
rear wheel and pulled against the obstacles by the front, until it is lifted up
and over finally the rear wheel is pulled over the obstacle by the front two wheels.
During each wheels traversal of the obstacle, forward progress of the vehicle is
slowed or completed halted. These rovers moves slowly and climb over the
obstacles one portion at a time
ADVANTAGES

• This mechanism allows climbing obstacles twice the size of wheel diameter
• Does not employ springs and stub axles
• Equal distribution of load on all wheels
• The design is simple and reliable