8 VI June 2020

International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 8 Issue VI June 2020- Available at www.ijraset.com

Design of Rocker Bogie with Gun Firing Control

Mechanism
Mr.Ishan Lade1, Krishika Bhaisare2, Runali Rangari3, Shabeena Tabassum4, Aniket Dhokane5, Hemesh Thakre6
1,2,3,4,5,6
Mechanical department, Guru Nanak Institute of Engineering and Management College, RTMNU, Nagpur

Abstract: The need to develop a highly stable suspension system capable of operating in multi terrains surface while keeping
all the wheels in contact with the ground. The design has a mechanism that can transvers terrain where the left and right
rockers individually climb different obstacle. In order to go an obstacles, the front wheels are forced against the obstacles by
the rear wheels. The paper emphasizes and focuses about the “ Area under surveillance “ continuously at extreme
conditions like very low temperature ,high attitude pressure, unique color, low power supply, long range distance coverage
and manually controlled weapon system which insure the safety. In the modal, the device consist a cameras as a sensor for
the purpose of monitoring the area under surveillance and sending images to the screen .If the area under surveillance is
occupied by unknown person, then a camera capture the image and forward to the screen . This model continuously
monitors the “Area under surveillance”. The motive of this project to build a ground surveillance rover with reliable
mechanism for security and surveillance.
Keywords: Rocker bogie, Surveillance, Security.
I. INTRODUCTION
The rocker bogie system, which has specifically designed for space exploration vehicles have deep history embedded in its
development. The term ‘rocker’ describes the rocking aspect of the larger links present each of the suspension system and
balance the bogie as this rocker are connect to each other and vehicles chassis through a selectively modified differential. As
accordance with the motion to maintain center of gravity of entire vehicle, when one rocker moves upward, the other goes
down. The chassis plays vital role to maintain the average pitch angles of both rocker by allowing both rocker to moves as per
the situation. As per the acute design, one end of a rocker is fitted with a drive wheel and the other end is pivoted to a bogie
which provides required motion and degree of freedom.
When the building a robot you would like it to be as simple as possible. In most cases you would never need a suspension
system but there were several instances when a suspension system cannot be avoided. The term “Bogie” refers to the links that
have a drive wheel at each end .bogie were commonly used as load wheel in the tracks of army tank as idler distributing the load
over the terrains. Bogie were also quite commonly used on the trailers of semi-trailer trucks. Both application now prefer
trailing arm suspensions. The rocker bogie design has no springs or stub axles for each wheel, allowing the rover to climb over
obstacles, such as rocks, as with any suspension system, the tilt stability is limited by the height of the center of gravity.
Secure border is one of the greater responsibilities of one’s nation which is done by the soldiers but still soldiers are human
beings and they have limitations also which can cause a hole in security especially this happens in areas of high altitude
pressure and low temperature. This system not only detects but also provides a video-coverage of the secret area. It is also
provide with manually firing methods which must be used to locate and fire at the target .Hence, Hundreds of kilometer of the
borders, which would have otherwise required hundreds of personnel, can be monitored with less effort in this system, with
only a few personnel As thermal camera are used for viewing, this system is immune to changes in suitable conditions, and
therefore, is equally suited for operation during the night.
This mechanism will be online with the server. The gun is continuously pointing in the direction of intruder further depending
on range (distance from the gun) (fixed range in the proposed model) the gun can be activated and a laser pointer will be
switched on depicting on shooting the target. The model proposed here prototype of rocker bogie with gun firing mechanism
and gun control to eliminate and thread or any unwanted activity in border area.

II. LITERATURE REVIEW

The concept of our research work is to create rocker bogie drive system based on those of NASA. NASA developed the rocker
bogie suspension system for their rovers and was implemented in the Mars Pathfinder’s and Sojourner rover. The rocker bogie
suspension system passively keeps all six wheels on the robots in contact with the ground even on uneven surfaces. This creates
for great traction and maneuverability. The rocker bogie suspension system which was currently NASA’S approved design for
wheeled mobile robots, mainly because it had capabilities to deal with obstacles and because it uniformly distributes the payload
over its 6 wheels at all times. It also can be used for other purposes to operate in rough roads and to climb the steps. It was
having lots of advantages but one of the major disadvantages is the rotation of the mechanism when and where is required. The
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 8 Issue VI June 2020- Available at www.ijraset.com

rotation can be possible by providing individual motors to individual wheels which causes arises in cost and complicacy in
design. Here an attempts was made to modify the existing design by incorporating a gear type steering mechanism which will be
operated by a single motor which simplifies the design as well as total cost and operating cost of the mechanism. In this
research, our endeavor is to transfer these major advantages embedded with the rocker bogie system into conventional vehicles
in order to remove discomfort and complexities present in conventional suspension system in general and suspension system of
heavy vehicles in particular.
With the concept of rocker bogie, we wanted to create this complete model of rocker bogie with gun firing mechanism, in which
we used two different ideas of gun system and rocker bogie mechanism. From ages it has been the idea of humans to achieve
the ultimate in security and make his loved ones and loved things secure. The ideas and desire that prompted him to make the
boundaries and secure them too from all unseen and unknown sources. Therefore, it has been always necessary to maintain a
huge people to guard and invoke alarms in case of emergencies. To this, we suggest a mechanism observing the area under
surveillance which employ image processing in which a camera will be continuously monitoring for observing the area.

III. BLOCK DIAGRAMS

The system block diagrams have been described for the base station with remote control, the rocker bogie and the gun firing
mechanism as shown in Figure 1, Figure 2.

Gun Mechanism
Rocker Bogie
DC Motor 1 DC Motor 4 DC Motor 1 DC

DC Motor
DC Motor2 DC Motor 5 DC Motor 2
Motor
Driver
Driver
DC Motor 3 DC Motor 6
DC Motor 3
Arduino
Arduino
Microcontroller
Microcontroller

Bluetooth
Module

Fig.1: Block Diagram of Rocker Bogie Fig.2: Block Diagram of gun firing mechanism

A. Description of Arduino Uno with L293d motor shield driver with HC05 Bluetooth module:
1) There are three main components to drive this project Arduino Uno kit,L293D Motor driver shield & HC05 Bluetooth
module.
2) Other component Mobile software (MIT app inverter) and android smartphone.
3) DC motors 200 RPM.
4) 12 volt DC Battery.
5) Toy gun used as a prototype to show how to use.
6) Arduino Uno kit is connected with L293D Motor driver shield.
7) L293D is fitted on Arduino Uno kit in upper side.
8) HC05 Bluetooth module is connected on L293D Motor driver shield.
9) HC05 module Rx is connected to “0” pin of L293D driver and TX is connected to “1” pin of L293D driver.
10) HC05 module +5v is connected to servo1 (+VE) of L293D driver board and GND is connected to servo1 (-ve) L293D
driver board.
11) Left side boggy motors is connected to M1 pin and right side boggy motors is connected to M2 pin.
12) M1 pin and M2 pin is in L293d motor driver shield.
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 8 Issue VI June 2020- Available at www.ijraset.com

13) Base of toy gun and gun body (DC motor) is connected in M3 pin L293D driver.
14) Gun trigger (DC motor) is connected to M4 pin L293D driver.
15) Then create a program of Arduino Uno kit.
16) When program is done upload in Arduino Uno kit.
17) Before uploading program disconnect power supply of Arduino Uno kit.
18) Then upload program in Arduino Uno kit.
19) Finally connect 12 battery to Arduino Uno kit and given power supply to L293D driver board by 12V battery.
20) Connect android smartphone to HC05 Bluetooth module.
21) Run that projects.

B. Complete Block Diagram of Arduino Uno

200 RPM- DC MOTOR -1

HC05
200RPM-DC MOTOR-2 M-1
Left
200RPM-DC MOTOR-3 wheels

12 V
Arduino
BATTERY L293D Motor
Uno
shield driver
Motherboar
200 RPM- DC MOTOR - 4
M-4
M-2 12V
Gun
Right BATTERY Trigger
200 RPM- DC MOTOR - 5
wheels operate
200 RPM- DC MOTOR - 6 M-3
Gun Base
Gun Move UP & DOWN/ Gun Base rotate left / Right plate &
body

C. Rocker Bogie design

For θ = 900, α = 450, and β = 450 . The length of side ‘g’ is equal.
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 8 Issue VI June 2020- Available at www.ijraset.com

IV. ROCKER BOGIE WITH WEAPON CONTROLE SYSTEM

In the recent past, these has been a lot of interest in developing car gun control to perform a variety of challenging tasks
ranging from military defense, surveillance, etc. with the rocker bogie can overcome the object like rock , equipment etc. these
system are not only used in civilian areas but also in military and naval ship application. This paper stresses on camera detection
to observe the real object image. The camera describing the process of conversion of image to the phone screen.
In this research paper, it was emphasized that the recording taken by the camera will appears on the phone screen and the person
who is controlling all the things from behind or who is controlling the gun system and the bogie should be alerted. The image or
recording that will taken by the camera from the area or surveillance area will be used as input signal for the solders. The gun
and camera is rotates 360 degree and bogie and gun control according to the camera recordings and by the remote control and
by any solder from military. This paper stresses on targeting the target in hidden areas where humans can’t survive in that
environment. The efficiency of targeting the target is greater in hidden areas with night vision. The recording of the camera is
used as a proof for security or as a evidence. Now day’s fully automatic guns are also available so this can also be used in this
project or prototype. The rocker bogie balance the gun firing system or targeting the target in uneven areas also.

V. OBJECTIVE
A. To balance in uneven surfaces for targeting the target.
B. To minimize manpower for security in surveillance area.
C. To improve efficiency of operations.

VI. FUTURE SCOPE

A. This project will be used for weather monitoring.
B. This can also be used for surveillance purpose due to the presence of IR Camera
C. Rocker bogie can also be used in industries for carrying the goods from one floor to another floor and to detect the smoke
in the industry.
D. This project will be used for security purpose.

VII. CONCLUSION
This work shows how the project system works on different surfaces and in different conditions. By assuming accurate
dimensions for climb the obstacles, accurately dimensioned rocker can climb the obstacles with great stability. The design and
manufactured model can climb the angle up to 450. Also we tested for the camera with gun system mounted on rocker bogie
system and satisfactorily performance obtains during this test camera and gun system rotated around 3600. During climbing test
for length 200mm (8inch) system can climb of normal stairs height. This paper is designed to save the boundaries at extreme
conditions, where human intervention is very difficult and save the precious live of our soldiers. In This mechanism, the gun
will be continuously be pointing the target or in the direction of the intruder. Also depending on the range (i.e. the distance from
the gun) the gun can be activated and laser pointer shooting the targets. Concerned with the threats to the nation at the border
with enemies in blasting the base camp, weapons, machinery and lot of warfare materials of high cost. This model is built in
such a way that it is going to acquire the data by a high resolution camera and process, and then makes a firing. As per the
proposed model, we have successfully studied the design of rocker bogie with gun firing control mechanism using Bluetooth &
Arduino technology, which can climb the obstacles, rough surfaces and for security purpose in border or at surveillance areas.

REFERENCES
[1] S.Guo, T. Fukuda, and K. Asaka, “ A new type of fish-like underwater microrobot ,” in IEEE/ASME Trans Mechatron, vol. 8, Mar. 2003, pp.136-141.
[2] S. Guo, T. Fukuda, and K. Asaka, “ Development of underwater Microrobot using ICPF Actuator,” in Int. Conf. of Robotics and automation, pp. 1829-
1834,1998.
[3] S. Guo, T. Fukuda, and K. Asaka, “Fish-like Underwater Microrobot with Multi DOF,” in Int. symp. On MICROMECHATRONICS AND HUMAN
SCIENCE, pp.63-68, 2001.
 International Journal for Research in Applied Science & Engineering Technology (IJRASET)
ISSN: 2321-9653; IC Value: 45.98; SJ Impact Factor: 7.429
Volume 8 Issue VI June 2020- Available at www.ijraset.com

[4] Fukuda, kawamoto, Arai and matsuura, “Mechanism and Swimming Experiment of Micro Mobile Robot in Water”, Pro. IEEC Con. On Robotics and
automation, Vol.1, pp.814-819, San Diego, California, may1994.
[5] MichaelJ. Pont, Embedded C (www .it-minds. Com).
[6] http://www.datasheetcatalog.com/datasheet_pdf/U/L/2/uln2003a.shtm
[7] http://www.holtek.com/english/docum/consumer/2_12d.htm.