Design and Fabrication of Rocker Bogie Mechanism

Analysis and Simulation of a Rocker-bogie Exploration Rover

Rovers will continue to play an important role in planetary exploration. Plans include the use of the rocker-bogie rover configuration. Here, models of the mechanics of this configuration are presented. Methods for solving the inverse kinematics of the system and quasi-static force analysis are described. Also described is a simulation based on the models of the rover’s performance. Experimenta...

Dynamic Modeling, Simulation and Velocity Control of Rocker-Bogie Rover for Space Exploration

Wheeled mobile rovers are being used in various missions for planetary surface exploration. In this paper a six-wheeled rover with rocker-bogie structure has been analyzed for planar case. The detailed kinematic model of the rover was built and the dynamic model was derived based on bond graph. The simulation studies were performed for obstacle climbing capability of the rover. It was observed ...

Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...

Design and fabrication of three axes accelerometer

Technology can provide safety in physical practices and improving the performance of these activities, so manufacturing of equipments for these purposes has been considered widely. The aim of the present paper was design and fabrication of three-axis accelerometer. hree acceleration sensors, three gyroscopes for angular velocity measurement, a microcontroller for converting analog data to ...

Effect of rocker shoe design features on