“ROCKER BOGGIE ROBOT”

A project report

Submitted to

GUJARAT TECHNOLOGICAL UNIVERSITY

By

Balkrishna Dewani - 156944319003

Jaydip Hada - 156944319014

Pradeep Yadav - 146944319004

In partial fulfillment for the award of the degree

Of

DIPLOMA OF ENGINEERING

In

MECHANICAL ENGINEERING
 DEPARTMENT OF MECHANICAL ENGINEERING
ALPHA ENGINEERING COLLEGE,
KHATRAJ.

“ROCKER BOGGIE ROBOT”

A project report
Submitted By
Balkrishna Dewani - 156944319003
Jaydip Hada - 156944319014
Pradeep Yadav - 146944319004

In partial fulfilment for the award of the degree

Of
DIPLOMA OF ENGINEERING
In
MECHANICAL ENGINEERING

GUIDED BY: H.O.D

(Shri V.B.Badheka) (Shri M.G.Rathod)
ACKNOWLEDGEMENT

I own a great many thanks to a great many people who helped and supported me
during the writing of this project report.

My deepest thanks Prof. V.B.Badheka guide of the project for guiding and
correcting various documents of mine with attention and care. He has taken pain
to go through the project phase I and II and make necessary correction as and when
needed.

I extend my gratitude to our Prof. & Head of department, Prof. M.G.Rathod for
his cooperation throughout the semester.
I have also received tremendous amount of help from friends inside and outside of
the college. I wanted to thanks all my friends for constantly showing your helping
hands, sharing your ideas and, most important of all, the friendship.
Last but not least, I wanted to express my gratefulness to my family. My parents
have been constantly encouraging me to pursue this degree. Thank you all for your
support, patience and love. I wouldn’t have been able to fulfil my dream without
any of these.

BALKRISHNA DEWANI

NAME SIGNATURE
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 ground

To design a mechanism that can traverse terrains where the left and
right rockers individually climb different obstacles

To sustain a tilt of some degree without tipping over the side ways
 CERTIFICATE

This is to certify that the project entitled “ROCKER BOGGIE

ROBOT” submitted by BALKRISHNA DEWANI
(156944319003), JAYDIP HADA (156944319014),
PRADEEP YADAV(146944319004) to the
GUJARATTECHNOLOGICAL UNIVERSITY in the partial
fulfillment for the award of degree of bachelor of engineering
in MECHANICAL ENGINEERING in a bonafide record of
project work carried out by him under my supervision during
the year 2017-‘18.

SUBMITTED ON:

Prof .M.G.Rathod Prof. V.B.Badheka

(Head of department) (Project Guide)

(Mechanical engg. Dept.)

 INDEX
CHAPTER 1: INTRODUCTION .

1.1PROJECT TITLE ....................................................8

1.2AIM OF PROJECT ....................................................9
1.3INTRODUCTION TO ROCKER BOGGIE ……………………….......10
1.4WHAT IS ROCKER BOGGIE? .................................................... .11
CHAPTER 2: PROJECT DESCRIPTION

2.1 WORKING PRINCIPLE …………………………........12

2.2 HOW THE MACHINE WORKS? ………………………….......13
2.3 LIST OF COMPONENTS …………………………..........14
CHAPTER 3: ASSEMBELY DRAWING …………………………........12

CHAPTER 4: LIST OF MACHINES ….......................................19

CHAPTER 5: LIST OF EQUIPMENTS …………………….........20

CHAPTER 6: SCOPE …………………….............21

LIST OF FIGURES

FIGURE - 1: WORKING PRINCIPLE ...............................9

FIGURE - 2: BEARING ...............................14

FIGURE - 3: SHAFTS ............................... 15

FIGURE - 4: SCREW ............................... 16

FIGURE - 5: BATTERY ............................... 17

FIGURE - 6: ASSEMBLY DRAWING .................................18

INTRODUCTION CHAPTER : 1

1.1PROJECT TITLE:

Working model of ROCKER BOGGIE ROBOT.

1.2 AIM OF PROJECT:

Our aim is to develop a robot which is able to travel in any type of terrain.

To develop a develop a robot which can reduce the problem of

inspection.

To develop an ease of exploration with minimum human effort.

To develop portable all terrain exploring robot.

 1.3 INTRODUCTION TO ROCKER BOGGIE:

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

1.4WHAT IS ROCKER BOGGIE ROBOT?

The Rocker bogie suspension is a suspension arrangement used in
Mars rovers. This mechanism enables a six-wheeled vehicle to keep
all wheels in contact with a surface even when driving on severely
uneven terrains.

Suspension is the term given to the system of springs, shock

absorbers and linkages that connects that connect the vehicle to its
wheels. Suspension system servers dual purpose: contributing to
the car’s road handling and braking

Generally, exploration robots are driven on the rough surface which

consists of different sized stones and soft sand. For this reason car
suspensions are not suitable for rover
PROJECT DESCRIPTION CHAPTER : 2

2.1 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 tha 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

Figure - 1
 2.2HOW THE MACHINE WORKS?

STEP 1:

The front rockers climbs on the obstacle

STEP 2:

The rear wheels push the front body on obstacle.

STEP 3:

The half body of robot passes the obstacle.

STEP 4:

The front rockers now pulls the rear part of the robot.

STEP 5:

The part of the robot climbs and passes the obstacle on the other way the front part
of the robot help is to climb and pass safely.
 2.3LIST OF COMPONENTS:

NAME OF COMPONENT QUANTITY

1.SHAFT 1

2.LINK 4

3.WHEEL 6

4.NUT 2

5.BOLT 2

6.BEARING 2

7.MOTOR 6

8.WIRE 3Meter

9.BATTERY 1 or 2

10.TRANSMITTER 1

11.RICIEVER 1
BEARING:

STRAIGHT ROLLER BEARING

This bearing up will be the outer ring, the separator, the rollers,
and the inner ring as shown in Fig. The outer ring just like the
ball bearings mentioned above keep the mechanism in place and
houses it to avoid anything from getting in and also keeping the
grease in if applicable. The separator keeps the metal rollers on
track and allows them to move in such a manner which it was
intended to perform. Lastly, the inner ring maintains the bearing
closed from the bottom and mates perfectly with the shaft

Figure:-2
Shaft:

Shaft is a rotating machine element which is used to transmit power

from one place to another. The power is delivered to the shaft by some
tangential force and the resultant torque set up within the shaft permits
the power to be transferred to various machines linked up to the shaft. In
order to transfer the power from one shaft to another, the various
members such as pulleys, gears etc. are mounted on it. These members
along with the forces exerted upon them causes the shaft to rotate. In
other words, the shaft is used for the transmission of torque and bending
moment. The various members are mounted on the shaft by means of
key or spines. The shaft is usually cylindrical, but may be square or
cross- shaped in section. They are solid in cross -section but sometimes
hollow shaft is also used. An axle, though similar in shape to the shaft, is
a stationary machine element and is used for the transmission of bending
moment only. It simply acts as a support for some rotating body such as
hoisting drum in a car wheel or a rope. A spindle is a short shaft that
impacts motion.

Figure:-3
Screws:

A screw, or bolt are types of fasteners that characterized by a helical

ridge, defined as an external thread or thread-wrapped around a cylinder.
Some screw threads are designed to mate with a complementary thread,
known as an internal thread. Usually it comes in the form of a nut or an
object that has the internal thread formed into it. Other screw threads are
designed to cut a helical groove in a softer material as the screw is
inserted. The most common uses of screws are to hold objects together
and to position objects.
Most often, screws have a head, however, a set screw is an example of a
screw without a head which is a specially formed section on one end of
the screw that allows it to be turned, or driven. Common tools for
driving screws include screw drivers and wrenches. The head is usually
larger than the body of the screw, which keeps the screw from being
driven deeper than the length of the screw and to provide a bearing
surface. There are exceptions; for instance, carriage bolts have a domed
head that is not designed to be driven; set screws often have a head
smaller than the outer diameter of the screw. J-bolts have a J-shaped
head which is not designed to be driven, but rather is usually sunk into
concrete allowing it to be used as an anchor bolt. The cylindrical portion
of the screw from the underside of the head to the tip is known as the
shank; it may be fully threaded or partially threaded.

Figure:-4
BATTERY:

The power supplies are designed to convert high voltage AC mains

electricity to a suitable low voltage supply for electronic circuits and
other devices. A RPS (Regulated Power Supply) is the Power Supply
with Rectification, Filtering and Regulation being done on the AC mains
to get a Regulated power supply for the devices being used. The motor
used requires a supply of +12V DC, which is derived from the single
phase supply of 230V AC.A power supply unit can by broken down into
a series of blocks, each of which performs a particular function. A DC
power supply which maintains the output voltage constant irrespective
of AC mains fluctuations or load variations is known as “Regulated D.C
Power Supply.

Figure:-5
ASSEMBLY DRAWING CHAPTER : 3

Figure :-6
LIST OF MACHINES CHAPTER : 4

Different machines required for the preparation of the working model of the
rocker boggie robot are as follows:

1.LATHE MACHINE

2. DRILLING MACHINE

3. GRINDING MACHINE

4. ARC WELDING MACHINE

LIST OF EQUIPMENTS CHAPTER : 5
The list of equipment’s required to prepare the model are as follows:

1.VICE

2.CUTTING TOOL:

1. SINGLE POINT CUTTING TOOL

2. TWIST DRILL

3.HAND TOOLS:

ROUGH FILE

SMOOTH FILE

CENTER PUNCH

HAMMER

HAND HACK SAW

MEASURING EQUIPMENTS:

1.STEEL RULE
SCOPE CHAPTER : 6

With some developments like attaching arms to the rover it can be

made useful for the BOMB DIFFUSING SQUAD such that it can
be able to cut the connections for diffusing the bomb.

By development of a bigger model it can be used for transporting

man and material through a rough terrain or obstacles containing
regions like stairs.

We can also develop it into wheel chair too. It can be send 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.