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DEPARTMENT OF MECHANICAL ENGINEERING
DESIGN AND FABRICATION OF
ROCKER BOGIE MECHANISM
BY
DINESH CM (211414114087)
GIRIDHAR...
ABSTRACT:
• The need to develop a highly stable suspension system
capable of operating in multi terrain surfaces while kee...
INTRODUCTION:
The Rocker bogie system is the suspension arrangement
used in Mars rovers introduced for Mars Pathfinder and...
PRINCIPLE:
•In order to go over an obstacle, the front wheels are forced against the
obstacle by the rear wheels. The rota...
WORKING OF ROCKER BOGIE MECHANISM:
TOP VIEW:
FRONT VIEW:
VELOCITY 8cm/s VELOCITY 10cm/s VELOCITY 12cm/s
RPM(N) DIA(D) RPM(N) DIA (D) RPM(N) DIA (D)
cm cm cm
10 15.277 10 19.096 10...
CALCULATION OF TILT ANGLE & WHEEL BASE:
Θ=tan-1
(y/x)
Θ=tan-1
(12/40)=16.69⁰
Tilt angle:
Wheel base:
To deduce the wheel b...
CALCULATION OF LENGTH OF LINKS:
Length of link AC: Length of link DB:
BC2
=AB2
+AC2
BE2
=DB2
+ED2
402
=2(AB2
) 202
=2(DB2
...
COMPONENTS REQUIRED:
COMPONENT NAME QUANTITY
SHAFT 1
LINK 4
WHEEL 6
BEARING 2
MOTOR 6
PROCESS INVOLVED:
• Design of bogie
• Welding of links
• Drilling
• Fastening of shaft with links
• Assembly of wheels and...
COURTESY: MARS CURIOSITY ROVER
ON ROCKER BOGIE SUSPENSIONCuriosity Rover:
Curiosity is a car-sized robotic rover exploring...
ADVANTAGES:
• This mechanism allows climbing obstacles twice the size of
wheel diameter
• Does not employ springs and stub...
CONCLUSION:
This is a wide field of study and is very less explored. So this
gave us the motivation for the development of...
THANK YOU
Rocker bogie mechanism (design and fabrication)
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Rocker bogie mechanism (design and fabrication)

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This ppt consists of design and fabrication of rocker bogie mechanism along with design calculation. Hope y'all find it useful. Thank you.

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Rocker bogie mechanism (design and fabrication)

  1. 1. 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. M.PUVI YARASAN M.E Ph.D (Assistant Professor) BATCH NUMBER: 76
  2. 2. ABSTRACT: • The need to develop a highly stable suspension system capable of operating in multi terrain surfaces while keeping all the wheels in contact with the ground. • To design a mechanism that can traverse terrains where the left and right rockers individually climb different obstacles. • To sustain a tilt of over 50deg without tipping over the sideways.
  3. 3. INTRODUCTION: The Rocker bogie system is the suspension arrangement used in Mars rovers introduced for Mars Pathfinder and also used on Mars Exploration Rover(MER) and Mars Science Laboratory(MSL) missions. This bogie can resist mechanical failures caused by the harsh environment on MARS. The primary mechanical feature of the Rocker Bogie design is it’s drive train simplicity, which is accomplished by two rocker arms.
  4. 4. PRINCIPLE: •In order to go over an obstacle, the front wheels are forced against the obstacle 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 the pressed against the obstacle by the rear wheel and pulled against the obstacle 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 wheel’s traversal of the obstacle, forward progress of the vehicle is slowed or completely halted. • These rovers move slowly and climb over the obstacles by having wheels lift each piece of the suspension over the obstacle one portion at a time.
  5. 5. WORKING OF ROCKER BOGIE MECHANISM:
  6. 6. TOP VIEW:
  7. 7. FRONT VIEW:
  8. 8. VELOCITY 8cm/s VELOCITY 10cm/s VELOCITY 12cm/s RPM(N) DIA(D) RPM(N) DIA (D) RPM(N) DIA (D) cm cm cm 10 15.277 10 19.096 10 22.915 20 7.638 20 9.548 20 11.458 30 5.092 30 6.365 30 7.638 40 3.819 40 4.774 40 5.729 50 3.055 50 3.819 50 4.583 60 2.546 60 3.183 60 3.819 70 2.182 70 2.728 70 3.274 80 1.910 80 2.387 80 2.864 We have chosen 30rpm motor. From the table for 10cm/s ; the wheel diameter is 63.6mm(70mm approx) Velocity, V =(∏DN)/60
  9. 9. CALCULATION OF TILT ANGLE & WHEEL BASE: Θ=tan-1 (y/x) Θ=tan-1 (12/40)=16.69⁰ Tilt angle: Wheel base: To deduce the wheel base, Wheel base=Total length - (radius of front wheel + radius of rear wheel) b=40-(3+3) b=34cm
  10. 10. CALCULATION OF LENGTH OF LINKS: Length of link AC: Length of link DB: BC2 =AB2 +AC2 BE2 =DB2 +ED2 402 =2(AB2 ) 202 =2(DB2 ) AB=AC=28.2cm(28cm approx) DB=DE=14.1cm(14cm approx)
  11. 11. COMPONENTS REQUIRED: COMPONENT NAME QUANTITY SHAFT 1 LINK 4 WHEEL 6 BEARING 2 MOTOR 6
  12. 12. PROCESS INVOLVED: • Design of bogie • Welding of links • Drilling • Fastening of shaft with links • Assembly of wheels and motors • Testing of rig
  13. 13. COURTESY: MARS CURIOSITY ROVER ON ROCKER BOGIE SUSPENSIONCuriosity Rover: Curiosity is a car-sized robotic rover exploring Mars as part of NASA's Mars Science Laboratory(MSL) mission. Launch date: November 26, 2011 Rocket: Atlas V Manufacturer: NASA Operator: NASA Mission Type :- Mars Exploration Rover Launch Mass:- 900 Kg Max Speed:- 50mm/s Average Speed :- 10mm/s
  14. 14. 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 • Independent movement of rocker on either sides of the bogie • The front and back wheels have individual drives for climbing, enabling the rover to traverse obstacle without slip • The design is simple and reliable
  15. 15. CONCLUSION: This is a wide field of study and is very less explored. So this gave us the motivation for the development of this rocker bogie suspension system in a cost effective manner. Our concern during the development of the rover will be to optimize the speed such that the rover do not flip and may travel a little faster too and make it cost effective with maximum possible rigidity and ruggedness. With certain developments the bogie system can be used for defense related operations and also in wheelchairs for climbing stairs.
  16. 16. THANK YOU

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