ABSTRACT

Rocker bogie finds a vital role in determining the scientific analysis of objectives separated
by many distance apart. The mobility design at present is quite a bit complex with many legs
or wheels. The wheeled rover which is capable of driving over the rough terrain provided
with high degree of mobility suspension system. The drive provided by the rocker bogie is
simple and it mainly operated by the means of two motors. The motors are kept inside in
order to make it more reliable and efficient. In overcoming the bumps in the natural
terrain the wheels are operated simultaneously. By implementing this mechanism the vehicle
can come through any obstacles it faces during the travel in the terrain. We have tested it by
conducting a series of mobility experiments on agricultural and, rough roads, inclined, stairs
and obstacles surfaces and concluded that it is possible. The present work is carried out on
modelling robotics and analysis of rocker bogie mechanisms used in the mars rovers the main
purpose of this project is to overcome the rough terrains while maintaining stability. This
enables to have a suspension-based mechanism that distributes the vehicle load as evenly as
possible even on bumps and irregular surfaces.
 INTRODUCTION
In order to have his life on earth man must find a way to earn. As the time goes on we must
remember of deprived people. We need to find a way to support such individuals with
deprived legs, hands or other parts of the body. They were too dependent on others for
everything, so we need to understand their feelings and
provide a way to carry out their life. It is difficult for them to migrate from one place to other.
The mobility of an individual is being restricted. The small scale manufacturers were keen on
their efforts to develop the cycle that suits them but it is not in the case of other transportation
facilities. The tricycle invention provided them with increased mobility and independence. So
we had an idea of inventing a wheel chair with rocker bogie mechanism. It consists of motor,
battery, links and wheels. The suspension design used in this mechanism offers vehicle
stability. The rocker-bogie design has no springs or stub axles for each wheel, allowing the
rover to climb over obstacles, such as rocks, that are up to twice the wheel's diameter in size
while keeping all six wheels on the ground. As with any suspension system, the tilt stability is
limited by the height of the centre of gravity. Systems using springs tend to tip more easily as
the loaded side yields.
 DESIGN OF WHEEL CHAIR
The determination of dimension of rocker and bogie linkages is the key factor in
manufacturing of rocker bogie mechanism. Based on the requirements, the dimension can be
varied. The main aim of this project is that it overcomes obstacles up to a certain height and
up to a certain angle. We assumed stair case of certain height and length, and then by using
the Pythagoras theorem, we came up with dimension of the chair. In order to achieve a
greater stability only one pair of wheel must be at the rising position. To find the dimension
of the linkages we have to place the first pair of wheels horizontally, next pair is placed
before rising. A suitable distance is maintained between them

ROCKER
The term “rocker” describes the rocking aspect of the larger links present each side of the
suspension system and balance the bogie as these rockers are connected to each other and the
vehicle chassis through a selectively modified differential. As accordance with the motion to
maintain centre of gravity of entire vehicle, when one rocker moves up-word, the other goes
down. The chassis plays vital role to maintain the average pitch angle of both rockers by
allowing both rockers to move 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.
BOGIE

In the system, “bogie” refers to the conjoining links that have a drive wheel attached
at each end. Bogies were commonly used to bare loading as tracks of army tanks as idlers
distributing the load over the terrain. Bogies were also quite commonly used on the trailers of
semi-trailer trucks as that very time the trucks will have to carry much heavier load

DC MOTOR

A DC motor is any of a class of rotary electrical machines that convert’s direct current
electrical energy into mechanical energy. The most common types rely on the forces
produced by magnetic fields. Nearly all types of DC motors have some internal mechanism,
either electromechanical or electronic, to periodically change the direction of current flow in
part of the motor. DC motors were the first type widely used, since they could be powered
from existing direct-current lighting power distribution systems. A DC motor's speed can be
controlled over a wide range, using either a variable supply voltage or by changing the
strength of current in its field windings. Small DC motors are used in tools, toys, and
appliances. The universal motor can operate on direct current but is a lightweight motor used
for portable power tools and appliances. Larger DC motors are used in propulsion of electric
vehicles, elevator and hoists, or in drives for steel rolling mills. The advent of power
electronics has made replacement of DC motors with AC motors possible in many
applications.
CONTROL UNIT

The small board does great job in controlling 2x DC motors through RF Remote Control. WE
can easily make a robot out of this board that can be directed from remote control. Just add
battery, motors and chassis. Good thing about the board is that it is possible to add external
microcontroller to expand the functionality through serial UART pins provided on board.
Board can be operated in two modes, Auto mode (default on start-up) and Manual Controller
Mode. In Auto mode the DC motors are controlled totally from hand held RF Remote and it
outputs the decoded remote data serially on its TXD pin for external controller to take further
action if required. In manual controller mode the DC motors are not operated from RF
Remote but the external controller sends it serial characters whenever motors are to be
controlled.

Features
 Drives 2x DC Motors(Forward, Reverse, Left and Right)
 3 Speed Control mode
 Can work from any battery from 9-15V
 On board 5V 1 Amp Regulator based on LM7805
 LEDs for Motor Direction and Power
 Can operate in Auto or Manual Control mode by external controller

Power Unit
 Brand Luminous
 Model Number 6V - 5Ah (Battery) Sealed
Maintenance Free
 Type Offline/Standby
 Input Voltage 6 V
 Input Frequency 6V
 Output Power Wattage 86.4 W
 ROCKER BOGIE MECHANISM
A. Assumption of the obstacle is as follows:
 1.The length of the obstacle l = 600mm
 2.The breadth of the obstacle b = 300mm
 3.The height of the obstacle h = 200mm

B. In rocker bogie mechanism

 Angle ABC, Angle ADE=90°
Using Pythagoras Theorem, to find height h
 Area=1/2absinc=1/2*21*21*sin30
 Area=110.25 cm2
 Area=1/2bh
 h =2*Area/b
 h =7.35cm

C. To find: H
 Area = ½pqsinr = ½ *42*42*sin60
 Area = 763.82cm2
 Area = ½*B*H
 H = (2*763.83)/60
 H= 25.461cm= 254 mm
In order to find the Tilt angle (θ)
D. θ = tan-1(y/x) = tan-1(20/30); θ = 33.7°
Selection of motor
F or mainly heavy objects at high torque motor is required.
 τ = F*r
 F = m*a = 2*9.8 = 19.6 N = 20 N (approx.)
 τ = 20*0.55= 11Nm
Since in the market or queries pressed in kg cm,
We get τ= 10kgcm
C. Calculation of Torque
The torque can be calculated by using the formula
 τ = F *r
 τ = 20*5.5 = 6 Nm
Assuming wheel diameter as110mm .
We get
 v = ( π *d * n )/60
To find N(rpm)N=( v*60)/(π*D)[ assume that the velocity= 0.3 m/s ] ,
N =(0.3*60)/(π*1.10) = 57.2 rpm
Then N= 42rpmas N= 60rpm
We select motor of torque = 10kgcm
Consider ∆ABC,
 AC2 = AB2 + BC2
 AB2 =BC2– AC2= 2AB2(300)2= 2(AB2) AB =212mm
Since AB =212.13mm =212mm (approx.)
We get BC =21cm
Consider ∆ADE
 AE2= AD2+ DE2 ,
 AD=DE
 (600)2= 2 (AD2)
 AD = 42.42cm
 AD=DE=420mm
 WORKING
As per the research it is find that the rocker bogie system reduces the motion by half
compared to other suspension systems because 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 0 degree turning ratio.
Every wheel also has thick cleats which provides grip for climbing in soft sand and
scrambling over rocks with ease.
In order to overcome vertical 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 obstacle overtaken.
Those wheels which remain
in the middle, is then pressed against the obstacle by the rear wheels and pulled against the
obstacle by the front till the 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.
CIRCUIT DIAGRAM
 ADVANTAGES
1. Can climb over blocks twice the height wheel.
2. No need of special suspension system like spring.
3. Power available to all wheels hence easy to drive on irregular road surface.
4. Excellent stability and adaptibity.
5. Light in weight construction.
6. It can distribute load on each wheel.
7. It provides us with an easy installation.
8. The speed can be controlled over a very wide range.
9. It provides a high starting torque.
10. Quick starting, stopping, reversing and acceleration can be done with ease.
11. It can climb up to obstacles with vertical height equal to twice of its diameter.
 CONCLUSIONS
The various components of rocker bogie mechanisms are assembled. This is a wide field of
study. The main function of this mechanisms is to overcome the rough terrains while
maintaining stability. The most important thing in this mechanism is that the length and
angles can be changed and can be used as per the requirements. This mechanism is studied
under the design calculations, communicated with the A.P.I (Application Programming
interface) and finally the design has done in SOLIDWORKS and for the structural analysis
performed in ANSYS. Thus, we get to know the behaviour of rocker bogie mechanisms
under different conditions. This project makes it way over the rough terrain. The torque
developed will be based on the weight acting on the each of the links. By having accurate
measurements of stair we could have a chair with much greater stability. When the chair’s
rear end faces the stair edge, the posture of the chair is poor. It undergoes a smooth travelling
while it travels in the ascending fashion but while coming down it comes up with vibration.
So we planned to have a spring and braking system. We put forward with mechanical design
for the passive linkages. When the vehicle is made contact with the step the momentum is
being calculated from which the moment force of the free joint is carried out. At last we cross
checked the values with the computer simulation software. Here the mechanism is equipped
with the minimal control system and successfully tested by moving it over the stairs in the
forward and in the reverse direction.
 FUTURE SCOPE
With the development in technology the rover can be used for reconnaissance purposes with
the cameras installed on the rover and minimizing the size of rover. With some developments
like attaching arms to the rover it can be made useful for the Bomb Defusing Squad such that
it can be able to cut the wires for diffusing the bomb. By the development material through a
rough terrain or obstacles containing regions like stairs. We could develop it into a
Wheelchair too. It can be sent in valleys, jungles or such places where humans may face
some danger. It can also be developed into Suspension System for the automobile vehicles
through proper research.
 REFERENESS
1. http://shabdbooks.com/gallery/173-april2020.pdf
2. https://iosrjen.org/Papers/vol8_issue7/Version-6/B0807060711.pdf
3. http://www.ijsrd.com/articles/IJSRDV7I20130.pdf