The rocker-bogie mechanism is often preferred for the planetary exploration purpose. These systems are able to traverse difficult and uneven terrain more efficiently than other systems. Primary ...objective of the paper is to design and simulate an interplanetary lunar rover to traverse through the uneven and unknown terrain of the lunar surface. For the traversal of the rover, lidar sensors are incorporated at different levels on the rover. The rover navigates through lunar surface with the help of the sensor data. It mainly consists of two modes of operation standard/normal mode and inclined mode. The rover changes its configuration in accordance with the control command and sensor data. For the purpose, a test world of obstacles with different heights has been created in the ROS software and simulated the rover in the world. The rover traversed successfully through the test world and the gravity value of the world set to that of lunar gravity.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
The employment of mobile robots, remotely or autonomously controlled for field operations, is an emerging topic. The development of suitable simulation models can aid the design and testing of such ...mobile robots. Here a small commercial prototype of a Rocker-Bogie Rover has been employed in experimental tests compared to simulations on a multibody model. In particular, the tests have dealt with the acquisition and processing of accelerometer signals both on experimental prototype and in simulation environment. The paper proposes a real time signal processing approach that could aid the motion planning and rover navigation control.
Currently, extensive research has been done on improving self-controlling mobile robots. This robot is called autonomous mobile robots (AMRs) and it was designed for various applications like moving ...around in places such as libraries, restaurants, and healthcare. This paper focuses on designing a six-wheeled mobile robot using Fusion 360 software, based on Rocker-Bogie structure. The main idea from the Rocker-Bogie concept is that it does not use springs or separate stub axles for each wheel, allowing the robot’s body to overcome obstacles like rocks, ditches, and sand. The actuator of the DC motor for each wheel was used to study the robot’s stability and its movement. Meanwhile, the movement of the robot was controlled by implementing a user graphical interface (GUI) using Blynk software. There are four main directions for the movement of the robot: moving forward, backward, and turning left and right position. Importantly, the Rocker-Bogie can be a starting point for developing an independent mobile robot that can navigate different terrains like sand, grass, and roads. This capability comes by using various sensors that help the robot navigate its surroundings effectively.
The tracker-bogie mechanism represents an integrated design, the benefits of both rocker-bogie and conventional tracks. The rocker-bogie mechanism, renowned for its stability, rendering it adept at ...traversing various ground shapes with its structure. The track mechanism excels in terrainability on deformable terrains. When both mechanisms are integrated, their benefits converge to produce compounded advantages with a synergistic effect that is reducing number of the actuator. By utilizing the track to the rocker-bogie mechanism, resulting in dynamic changes in track tension during obstacle negotiation. An adaptive track-tension system is devised that handle the tension problem. During the prototyping phase, an important task is how to define the bogie's rotation center relative to the rocker. Through the simulation result, the tracker-bogie reduces noncontinuity in step obstacles, which is accomplished through combining both mechanisms and adaptive track tensioner. As the result of experiment, the tracker-bogie can overcome obstacles that are 71.43% higher than that of the normal track. The trajectory linearity is measured using the root-mean-squared error (RMSE) value. Compared with the normal track mechanism, RMSE of the tracker-bogie decreases by as much as 45.73%. In the future, the tracker-bogie mechanism can be applied to all kinds of field robots for increasing the robot mobility.
In the last decay, various missions have conducted to explore the science behind the space phenomenon. An autonomous robot is essential for space exploration, such as Moon, Mars, and Saturn. This ...robot-like rover plays a vital role in collecting data and sample on the planet’s unplanned surface. This paper presents the necessary kinematic and dynamic stability of rocker-bogie on an uneven surface. The concept of a designed rocker-bogie robot ensures a new technique for optimum stability conditions of rocker-bogie and self-adaptability using a link mechanism during high-speed mode operation. It consists of a two-mode operations system with six wheels. The rocker-bogie wheels are aligned with the bar link mechanism. The two-mode operation system mechanism of rocker-bogie is simulated. Further on, the prototype of rocker-bogie is designed and fabricated by considering optimum fittest data from the simulation. The performance evaluation of the developed prototype and results is then compared with simulation aiming to strengthen vehicle stability. The newness of this present investigation are: - (i) the improvement of travel rate of rocker-bogie in case of planner surface by switching the front span from its original configure, (ii) dynamical suspension having two operational, (iii) expansion of supported polygon for increasing the travel rate in case of plane terrain, (iv) self-switching to its original configuration at low speed while it faces rough terrain.
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GEOZS, IJS, IMTLJ, KILJ, KISLJ, NLZOH, NUK, OILJ, PNG, SAZU, SBCE, SBJE, UILJ, UL, UM, UPCLJ, UPUK, ZAGLJ, ZRSKP
Monitoring behavior, numerous actions, or any such information is considered as surveillance and is done for information gathering, influencing, managing, or directing purposes. Citizens employ ...surveillance to safeguard their communities. Governments do this for the purposes of intelligence collection, including espionage, crime prevention, the defense of a method, a person, a group, or an item; or the investigation of criminal activity. Using an internet of things (IoT) rover, the area will be secured with better secrecy and efficiency instead of humans, will provide an additional safety step. In this paper, there is a discussion about an IoT rover for remote surveillance based around a Raspberry Pi microprocessor which will be able to monitor a closed/open space. This rover will allow safer survey operations and would help to reduce the risks involved with it.
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FFLJ, NUK, ODKLJ, UL, UM, UPUK
Abstract
Robotic technology is now applied in a variety of domains, including hazardous and urban situations, security, planetary systems, rescue missions, and military operations. The current ...mobility designs are difficult due to the amount of wheels or legs used. They are not designed to withstand the harsh environment of Mars in terms of mechanical breakdown. Four-Wheel rovers can navigate tough terrain thanks to an effective high degree of mobility suspension system. The rocker-bogie design’s most important mechanical feature is its drive train simplicity, which is achieved by having only two motors for motion. Six wheels are used since there are rarely obstacles on natural terrain that require both front wheels of the rover to climb at the same time.
Robotic rovers equipped with articulated rocker-bogie suspension have aroused great interest after the explorations on Mars; this interest has also shifted to different types of terrestrial ...applications such as in the agriculture, military, and rescue fields. The suspension can be designed so that, when the rover is on flat and horizontal ground, the weight is evenly distributed among the wheels; in this way, all wheels have the same traction capability and offer the same rolling resistance. As the operating conditions vary due to sloping ground, uneven ground surface, or different payload position, the weight distribution can undergo considerable variations. This type of suspension is statically determined with respect to weight, but it is indeterminate with respect to traction forces; the traction control system aims to avoid the wheels slippage. In this paper, the traction contribution that each wheel can provide, to overcome a step obstacle, is shown. Furthermore, the possibility of regulating the distribution of vertical loads among the wheels adopting a torsion spring, with adjustable preload, arranged between rocker and bogie, is evaluated. A suitable spring preload facilitates the initial phase of the obstacle overcoming if the rover advances with the bogie forward. Numerical simulations show that to increase the possibility of overcoming an obstacle it is sufficient for the spring preload to reduce the vertical load on the front wheel; in any case, a higher load variation would not be advisable as it could involves an excessive load difference among the wheels.
In this study, a modified rocker-bogie mechanism that improves mobility using only two actuators and a damper is proposed. Previous mechanisms used large numbers of motors or complex controls to ...overcome obstacles such as rough terrain or stairs. To compensate for this, the damper-driven rocker-bogie (DDRB) was devised. The effectiveness of the damper was verified using quasi-static analysis, and the optimal parameters of the prototype were determined using multibody dynamics. Finally, the performance of climbing stairs was successfully demonstrated through experiments with the prototype. The mobility performance is expected to be improved through additional active systems, and will be applied not only to stairs but also to various rough terrains in the future.
