Government

Engineering College,
Bhavnagar.
Semester : 6th
Branch : Mechanical - B
Subject : Design Engineering 2-B
Topic : Design And Fabrication Of Rocker
Bogie Mechanism

Prepared by :
1. Savaliya Bhavik ( 140210119106)
2. Savaliya Kundan (140210119107 )
3. Royla Karan (140210119100 )
 Principle :
The rocker bogie is based on the motion
to maintain centre of gravity of entire
vehicle, when one rocker moves up
word, the other goes down.
The rover must maintain good wheel
traction in challenging rough terrains. If
traction is too high, the vehicle
consumes a lot of power in order to
overcome the force and move.
If traction is too low, the rover is not
able to climb over obstacles or inclined
surfaces.
Slip occurs when the traction force at a
wheel-terrain contact point is larger than
the product of the normal force at the
same wheel and the friction coefcient.
Hence, no slip occurs if the condition Ti
Ni is satised.
In reality it is very challenging to
determine the precise friction coefcient
for the interaction of two surfaces.
Method :
As per the research it is nd 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
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
Parameter :
Traction and Slip
1. The rover must maintain good wheel traction in
challenging rough terrains.
2. If traction is too high, the vehicle consumes a lot of
power in order to overcome the force and move.
3. If traction is too low, the rover is not able to climb over
obstacles or inclined surfaces.
4. Slip occurs when the traction force at a wheel-terrain
contact point is larger than the product of the normal
force at the same wheel and the friction coefcient.
Hence, no slip occurs if the condition Ti Ni is
satised.
5. In reality it is very challenging to determine the precise
friction coefcient for the interaction of two surfaces.
Material Selection With
Analysis :
The material used for the links should be cheap as well
as light in weight thats why we will use the Acrylic
material which has the required properties of light weight
and rigidity.
The material used for links in rocker bogie mechanism
can be stainless steels,wood,acrylic,alloy steel,etc.
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. The advantage is that the wheels'
pressure on the ground will be equilibrated.
 This is extremely important in soft terrain where
excessive ground pressure can result in the vehicle
sinking into the driving surface. The second
advantage is that while climbing over hard, uneven
terrain, all six wheels will nominally remain in
contact with the surface and under load, helping to
propel the vehicle over the terrain.
Design Steps With Dimension :
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.
We will be using the same mechanism the six wheel independent
drive to cross the obstacles but without any differential.
To further simplify the design we choose to use one motor to directly
drive each wheel.
Wheel Design:

The wheels are needed to be wider for increasing the

traction to traverse upon the obstacles. And their diameter
depend upon the availability and amount of speed required.
The actual rover uses billet wheels, and machine the
wheel and tread from one piece of round aluminum stock.
The main problem during the selection of the wheels is
light weight consideration and the distribution of load on
the wheels.
Drive
motor Selection:
1. Since the rover consists of six indepently drive wheels hence the
drive motor is needed for every wheel.
2. The Selection of drive motor depends upon the speed of the rover
that is desired. We will try to design the rover for a speed of 10 cm/s
and will choose the parameters based upon it.
3. The rover is designed to cross the obstacle and hence need more
traction thus the motor choosed should be of low rpm but the rpm
cannot be very low because to maintain the speed the diameter of the
wheel will have to be increased thus an optimum rpm motor is
needed to be selected.
4. We will be using a 30 rpm motor with 12V DC because it is well
suited depending upon the requirements and calculations.
The Control of the rover will be manual with
the help of a joysticks for driving each side
of the rover separately. It will be helpful
while taking a turn. All the connections will
be wired and no wireless means will be
used because we need to simulate the
mechanism and not the actual rover and to
make it cost effective in all possible
manners.
Future Work
:
As modular research platform the rover
developed by this project is designed specifically
to facilitate future work. With the development
in technology the rover can be used for
reconnaissance purposes with the cameras
installed on the rover and minimising the size of
rover. 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 wires for diffusing the bomb.
By the development of a bigger model it can be
used for transporting man and material through a
rough terrain or obstacle containg regions like
stairs.We could develop it into a 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 low cost exploration rover that
could be send for collecting information about the
environment of some celestial bodies.