DEPARTMENT OF MECHANICAL ENGINEERING DESIGN AND FABRICATION OF ROCKER BOGIE MECHANISM BY DINESH CM (211414114087) BATCH NUMBER: 76 GIRIDHARAN TS (211414114100) HANIROOTHC (211414114115) HARISH T (211414114123) Under the guidance of Dr. M.PUVI YARASAN M.E Ph.D (Assistant Professor] i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.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.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.WORKING OF ROCKER BOGIE MECHANISM:2D SKETCH: AD x o \ rocker or ROCKER BOGIE MECHANISM ye saTOP VIEW:FRONT VIEW:WHEEL DESIGN: Velocity, V =(T1oN)/60 VELOCITY 8em/s RPM(N) Diao) cm 10 15.277 20 7.638 30 5.092 40 3.819 50 3.055 60 2.546 70 2.182 80 1.910 VELOCITY 10cm/s RPM(N) 10 20 30 40 50 6 7” 80 We have chosen 30rpm motor. From the table for 10cm/s ; the wheel diameter is 63.6mm(70mm approx) DIA (0) cm 19.096 9.548 6.365 4774 3.819 3.183 2.728 2.387 VELOCITY 12em/s RPM(N) 10 20 30 40 50 60 70 80 DIA(D) cm 2.915 11.458 7.638 5.729 4.583 3.819 3.274 2.864CALCULATION OF TILT ANGLE & WHEEL BASE: Tilt angle: O=tan*(y/x) O=tan"(12/40)=16.69° 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CALCULATION OF LENGTH OF LINKS: DB=DE=14. 1em(14em approx)COMPONENTS REQUIRED: SHAFT LINK WHEEL BEARING MOTOR DN DD PRPROCESS INVOLVED: * Design of bogie * Welding of links * Drilling * Fastening of shaft with links * Assembly of wheels and motors * Testing of rigCOURTESY: MARS CURIOSITY ROVER ON ROCKER BOGIE SUSPENSION Curiosity 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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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.THANK YOU UA