The challenges of designing the rockerbogie suspension for the mars exploration rover brian d. The rockerbogie suspension system from last year remains relatively the same from last year. 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 wheels diameter in size while keeping all six wheels on the ground. The rocker bogie suspension system from last year remains relatively the same from last year. Dec 01, 2015 for rocky bogie system if the center of gravity is chosen accurately and wisely, it provides a high efficiency in each.
Curiosity sports the same rocker bogie suspension system that carried previous mars rovers sojourner, spirit and opportunity over hill and martian dale. One design characteristic that was important is that each side of the suspension can be placed on the other side without alteration. Harrington and chris voorhees abstract over the past decade, the rocker bogie suspension design has become a proven mobility application. Curiosity sports the same rockerbogie suspension system that carried previous mars rovers sojourner, spirit and opportunity over hill and martian dale. Railway technology today 5 edited by kanji wako how bogies work isao okamoto role of bogie railcar bogies usually go unnoticed by rail passengers, but despite their obscurity, they are very important in safe railway operations and perform the following functions. Home trailer suspension adr bogie suspensions adr bogie suspension 8 ton. Standard rocker bogie suspension mechanism, which has been designed in the late 90s, has excellent weight distribution for different surfaces on rough terrain. The rockerbogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas. T railway technology today 5 edited by kanji wako how. Full text of the challenges of designing the rockerbogie. I am dealing with a startup project based on this rocker bogie mechanism. Design analysis of rocker bogie suspension system and. There is one rockerbogie assembly on each side of the rover.
The challenges of designing the rockerbogie suspension for. Most of the rover designs have been developed for mars and moon surface in order to understand the geological history of the soil and rocks. This is in between bogie and vehicle either through a bolster or bolsterless. For this years arm, we considered many design solutions to meet the requirements of competition. Design and implementation of a rockerbogie suspension for a mining robot wesley b. The mechanism allows to climb over high obstacles, while keeping all the six wheels in contact. Railway technical web pages archive page vehicle suspension systems introduction almost all railway vehicles use bogies trucks in us parlance to carry and guide the body along the track. Pdf dynamic modeling, simulation and velocity control of. Harrington and chris voorliees abstract over tlie past decade, tlie rocl suspension system in a series of the project called rocky. Bogie suspension design is a complex and difficult science which has evolved over many years. It is a general term for the assembly of all suspension parts, which together support the coach body at the two ends. Common types are coil springs, leaf springs and rubber airbags.
This paper proposes a new dynamic rocker bogie suspension system with two modes of operation. All the mars rovers have six wheels and use a rocker bogie suspension system to drive smoothly over bumpy ground. Estimation of bogie performance criteria through onboard. The rocker component, however, distributes forces from one side of the bot to the other, to increase. Pdf traction control for a rockerbogie robot with wheelground. Support railcar body firmly run stably on both straight and curved track. Pdf highspeed traversal of rough terrain using a rocker. Following several technology and research rover implementations, the system was successfully flown as part of. The rockerbogie suspension is a mechanism that enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain.
Suspension 79 model year front suspension rear suspension left right left right bogie suspension springs boaski inc bogie models 6876 9353031 chaparral industries bogie models 7073 9353041 motoski all bogie models heavy duty 6567 9353061 9353060 9353161 9353160 cadet 250 heavy duty 6875 9353061 9353060 9353161 9353160. The rockerbogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to highspeed traversal over the planar terrain. Does anyone have technical specs theory of operation, cad drawings, whatever of the rocker bogie suspension. Using the uncontrolled rotatron for the bogie pivot. The landmine detection robot is constructed using the rocker and bogie suspension mechanism.
Dynamic modeling, simulation and velocity control of rockerbogie rover for space exploration. Oct 06, 2016 the rockerbogie suspension is a mechanism that enables a sixwheeled vehicle to passively keep all six wheels in contact with a surface even when driving on severely uneven terrain. The axils are connected to the wheel assemblies by 2 parallel aluminum tubes that make up the rocker bogie suspension system. Standard rockerbogie suspension mechanism, which has been. All the mars rovers have six wheels and use a rockerbogie suspension system to drive smoothly over bumpy ground. Jul 21, 2015 most of the rover designs have been developed for mars and moon surface in order to understand the geological history of the soil and rocks. The construction of possible variants of the bogie with direct suspension system is explained, and the principal subassemblies are briefly described. Rocker bogie mechanism 3d cad model library grabcad. Design and implementation of a rocker bogie suspension for a mining robot wesley b. Full text of the challenges of designing the rocker bogie suspension for the mars exploration rover see other formats the challenges of designing the rocker bogie suspension for the mars exploration rover brian d. This would cause an impulsive force to act on front wheels. To counter anti gravity impact, nasa and jet propulsion laboratory have jointly developed a suspension system called the rockerbogie suspension system.
The rockerbogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly. Download limit exceeded you have exceeded your daily download allowance. At least one wheelset, composed of an axle with bearings and a wheel at each end. The design of the suspension system for the wheels is based on heritage from the rocker bogie system on the pathfinder and mars exploration rover missions. Perseverance uses a similar rockerbogie suspension system that was also used on the mars science laboratory, mars exploration rovers, and pathfinder. Have you asked yourself before why when you jump you dont end of having a broken leg. What are the disadvantages of the rocker bogie suspension. I am very much interested in knowing how did you conduct the simulation of the differential in the rocker bogie mechanism. It has been used in the 2003 mars exploration rover mission robots spirit and opportunity, on the 2012 mars science laboratory msl missions rover curiosity, and is slated for use in the mars 2020 rover. Development and results of tests on the four point spring suspension type system bogie and two point spring suspension type system bogie ryohei shimamune and jun moriyama the ac train that was developed targeting the next generation of commuter and suburban trains has employed the articulated method for the. The human body is a complex integration of intelligent parts in an intelligent way. Pdf the rockerbogie mobility system was designed to be used at slow. Full text of the challenges of designing the rockerbogie suspension for the mars exploration rover see other formats the challenges of designing the rockerbogie suspension for the mars exploration rover brian d. While the large number of wheels increases the stability over uneven terrain, it also increases complexity in the design.
Rockerbogie rover is a radio frequency controlled robot, that uses the famous rockerbogie suspension system developed by jpl nasa for exploration rovers like sojourner. The bolster, the main crossmember, connected to the bogie frame through the secondary suspension. The riding qualities, determined by way of a nonlinear time step simulation method, of the bogie with direct suspension system and. Low power mobility system for micro planetary rover micro5. New design, mostly related to rocker bogie suspension system. Robotic fire extinguishing vehicle with rocker bogie. Over the past decade, the rockerbogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability.
The two rods facing opposite of each other on the left and right of the robot help serve as axels for the wheel assemblies. This suspension system will help the vehicle to move into the fire hazard zone crossing over the obstructions in the quicker way. As with any suspension system, the tilt stability is limited by the height of the centre of gravity. The rocker bogies are easy to see in pictures of the rovers see pictures below. The rockerbogies are easy to see in pictures of the rovers see pictures below. Multiobjective optimisation and active control of bogie. To counter anti gravity impact, nasa and jet propulsion laboratory have jointly developed a suspension system called the rocker bogie suspension system. Nasa has developed this suspension system in a series of the project called rocky. Design and implementation of a rockerbogie suspension for a. Development of train bogies that support the articulated. Finally, a simulation of a small robot using rockerbogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and. Schaus university of north carolina at charlottegeorgia institute of technology abstract as their capstone senior design experience, students from the william states lee college of. This paper proposes a new dynamic rockerbogie suspension system with two modes of operation.
Mars rover rockerbogie differential alices astro info. Conflicting effects of bogie suspension system on vehicle performance. Elastic elements helical, air, rubber springs these are components which return to their original position when forces causing the affect are removed. There is one rocker bogie assembly on each side of the rover. The optimization results achieved can be used as a guideline to improve the performance of existing bogie primary suspensions and give some hints for design and implementation of semiactive or fully. The rocker bogie suspension system has robust capabilities to deal with uneven terrain because of its distributing of the payload over its six wheels uniformly, while there is one major shortcoming to highspeed traversal over the planar terrain. Harrington and chris voorliees abstract over tlie past decade, tlie rocl bogie suspension design has become a proven mobility application known for its superior vehicle. Design and fabrication of rocker bogie mechanism using. Harrington and chris voorhees abstract over the past decade, the rockerbogie suspension design has become a proven mobility application. One of the major shortcomings of current rockerbogie rovers is that they are slow. These are modular suspensions that allow combinations of 2 tandem, 3 tridem and more axles. Design and analysis of a four wheeled planetary rover. A read is counted each time someone views a publication summary such as the title, abstract, and list of authors, clicks on a figure, or views or downloads the fulltext. The movement of the vehicle is made possible through rockerbogie suspension.
The challenges of designing the rockerbogie suspension. I had merge do a suspension revalve and i got the knuckle for the shock. Wall climbingrobotincludinggroundwalltransitionpaper. The rocker bogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers. Railway technology today 5 edited by kanji wako how bogies work isao okamoto role of bogie railcar bogies usually go unnoticed by rail. The rocker bogie mechanism helps the vehicle to move in almost all terrains like desert, snow, rough. Animation of a rocker bogie suspension, for handicapped people.
The rocker bogie suspension design has become a proven mobility application known for its superior vehicle stability and obstacleclimbing capability 1. Why your stomach and kidney dont leave their places permanently as a result of the shock. The suspension system is how the wheels are connected to and interact with the rover body. Experimental analysis of climbing stairs with the rocker. Towards optimization of a high speed train bogie primary.
Rocker bogie suspension has following disadvantages. After i rode his 2011 honda 450, i knew i was missing out. Adr bogie suspension 8 ton bogie suspensions trailer. Bogie suspension with 11 leaves 27mm thickness more profits 6,833 41% crawler 70 kmph 15. The rockerbogie system is the suspension arrangement developed in 1988 for use in nasas mars rover sojourner, and which has since become nasas favored design for rovers. Suspension to absorb shocks between the bogie frame and the rail vehicle body. The system, which employs neither axles nor springs, remains stable because each wheel can move up and down independently. At high speeds it experiences head on collision of wheels with obstacles. The equalisation tests on the short wheelbase bogie showed that the geometry of the suspension, as well as the friction at the spring slipper ends, affects the equalisation performance of th bogie.
Heavy duty suspension extremely rigid suitable for off road vehicles operating in rough terrain. The challenges of designing the rocker bogie suspension for the mars exploration rover brian d. The design of the suspension system for the wheels is based on heritage from the rockerbogie system on the pathfinder and mars exploration rover missions. Design analysis of rocker bogie suspension system and access. The main board is based on a picaxe 28x2 and a 08m2. Now its your turn, which suspension system are you going to choose for your next rover. On roads, tracks or construction sites, in the icy arctic or the tropical jungle, w suspension units have been designed for tandem axles and provide for reliable goods transport even under the most difficult conditions. The ultimate goal of this thesis is to study the multiobjective optimisation and active control of bogie suspension components to be able to improve the vehicle performance with respect to the objective functions shown in fig. Suspension 79 model year front suspension rear suspension left right left right bogie suspension springs boaski inc bogie models 6876 9353031 chaparral industries bogie models 7073 9353041 motoski all bogie models heavy duty 6567 9353061 9353060 9353161 9353160. Jul 05, 2015 animation of a rocker bogie suspension, for handicapped people. Estimation of bogie performance criteria through onboard condition monitoring parham shahidi1, dan maraini1, brad hopkins1, and andrew seidel1 1amsted rail company, inc. Adr bogie suspension 8 ton adr bogie suspension 8 ton download information.
Design and implementation of a rockerbogie suspension for. Final report of the hearing officer1 european commission. All k suspensions are available in both normalheight and loweredheight versions. Rocker bogie suspension has the specialty of being able to climb over obstacles twice the diameter of the wheel, that too without compromising the stability of the rover as a whole. The optimized values of design parameters bogie primary suspension stiffness and damping are found for each operational scenario. What are the disadvantages of the rocker bogie suspension system. I had to weld the arms to the hubs to keep everything together ubiozur welding ltd. The term rocker comes from the rocking aspect of the links on each side of the suspension system. I had heard about merge racing technologies from my good buddy, jimmy albertson.
This system allows for better maneuverability both during motion and in place. Astro the rover california state university, fullerton. Some of the significant steps in progress are described here. While the jpl and nasa sites hype the rocker bogie suspension, they never give the technical details i need.