Design of a Robot Prototype with Rocker Geometry-Bogie

Authors

DOI:

https://doi.org/10.29019/enfoqueute.804

Keywords:

Rocker-Bogie, design, geometry, robot, simulation

Abstract

In this research a Rocker-Bogie type suspension geometry is designed and validated based on the analysis of the degrees of freedom, for its future implementation within the space exploration industry sector, having as main purpose the collection and transportation of garbage and waste to strategic sectors within the facilities, avoiding obstacles of different levels, although it could also be applied in the industrial, agricultural and mining areas, where a robust and stable system is required. We start by establishing a safety factor, determined through coefficients that involve safety and economy, then we calculate the dimensions and forces to be supported by the structural elements known as Rocker and Bogie, which are responsible for transmitting the support to the chassis as well as providing support to the connections for the axle components and motors for the wheels. The design and calculation of these elements, depends on the robot prototype being able to move through irregular fields avoiding obstacles such as: surface anomalies, potholes, rocks and curbs. For the validation of the prototype design, a static analysis of the structural elements (Rocker and Bogie) is performed by means of the Von Misses parameter, obtaining a high level of safety before rupture. Subsequently, the simulation of the prototype is executed based on a track created in the software, analyzing parameters of speed, acceleration and displacements in the axes X, Y. Finally, the results obtained from the simulation are compared based mainly on height and maximum length between front and rear axles, being crucial the maximum permissible angle of inclination.

Metrics

Downloads

Download data is not yet available.

References

Bogue, R. (2012). Robots for Space Exploration. Industrial Robot: An International Journal, 39(4): 323.328. doi:10.1108/01439911211227872

Cabrera, J.; Jurado, F., y Vera, D. (2021). Simulación de un deshidratador híbrido indirecto activo mediante el software ANSYS. Enfoque UTE, 12(4): 29-44. https://doi.org/10.29019/enfoqueute.771

Chen, C., et al. (2021). Simultaneous Control of Trajectory Tracking and Coordinated Allocation of Rocker-Bogie Planetary Rovers. Mechanical Systems and Signal Processing, 151: 107312. https://doi.org/https://doi.org/10.1016/j.ymssp.2020.107312

Chinchkar, D., et al. (2017). Design of Rocker Bogie Mechanism. International Advanced Research Journal in Science, Engineering and Technology, 4(1): 46-50.

Conte, R. (2013). Robot Espaciales. Recuperado de http://haciaelespacio.aem.gob.mx/revistadigital/articul.php?interior=39

Eisen, H. J., et al. (1998). Sojourner Mars Rover Thermal Performance. SAE Transactions, 107: 697-707. http://www.jstor.org/stable/44735797

Elishakoff, I. (2017). Probabilistic Methods in the Theory of Structures: Strength of Materials, Random Vibrations, and Random Buckling. Mechanical Systems and Signal Processing (151): 107312

Gonzalez, R., y Iagnemma, K. (2017). Slippage Estimation and Compensation for Planetary Exploration Rovers. State of the Art and Future Challenges. Journal of Field Robotics, 35(4): 564-577. doi:10.1002/rob.21761

Gul, F., et al. (2021). Multi-Robot Space Exploration: An Augmented Arithmetic Approach. IEEE Access, (9): 107738-107750. doi:10.1109/ACCESS.2021.3101210.

Hu, J., et al. (2020). Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning. IEEE Transactions on Vehicular Technology, 12 (69): 14413-14423. doi:10.1109/TVT.2020.3034800

Hu, Y., et al. (2019). Design and Validation of a Self-Driven Joint Model for Articulated Arm Coordinate Measuring Machines. Applied Sciences, 9(15). https://doi.org/10.3390/app9153151

Karras, J. T., et al. (2017). Pop-up Mars Rover with Textile-enhanced Rigid-flex PCB body. IEEE International Conference on Robotics and Automation (ICRA): 5459-5466. https://doi.org/10.1109/ICRA.2017.7989642

Kim, D., et al. (2012). Optimal Design and Kinetic Analysis of a Stair-climbing Mobile Robot with Rocker-Bogie Mechanism. Mechanism and Machine Theory, 50: 90-108. https://doi.org/https://doi.org/10.1016/j.mechmachtheory.2011.11.013

Kornfeld, R. et al. (2014). Verification and Validation of the Mars Science Laboratory/Curiosity Rover Entry, Descent, and Landing System. Journal of Spacecraft and Rockets, 51(4): 1251-1269. https://doi.org/10.2514/1.A32680

Meghdari, A., et al. (2005). A Novel Approach for Optimal Design of a Rover Mechanism. Journal of Intelligent and Robotic Systems, 44(4): 291-312. https://doi.org/10.1007/s10846-005-9013-5.

Misha, S., et al. (2020). Simulation CFD and Experimental Investigation of PVT Water System Under Natural Malaysian Weather Conditions. Energy Re-ports, 6: 28-44. https://doi.org/https://doi.org/10.1016/j.egyr.2019.11.162

Musto, J. (2010). The Safety Factor: Case Studies in Engineering Judgment. International Journal of Mechanical Engineering Education, 38(4): 286-296. https://doi.org/10.7227/IJMEE.38.4.2

Sanguino, T. (2017). 50 Years of Rovers for Planetary Exploration: A Retrospective Review for Future Directions. Robotics and Autonomous Systems, 94: 172-185. https://doi.org/https://doi.org/10.1016/j.robot.2017.04.020

Seralathan, S., et al. (2020). Static Structural Analysis of Wheel Chair Using a Rocker Bogie Mechanism. Materials Today: Proceedings, 33: 3583-3590. https://doi.org/https://doi.org/10.1016/j.matpr.2020.05.658

Smith, B., Y Saaj, C. (2009). Biologically Inspired Nano-rovers: Innovative and Low-Cost Technologies Using Shape Memory Alloys. In Proceedings of 60th International Astronautical Congress.

Tashtoush, T. et al. (2020). Reverse-Twister Swarm Search Algorithm Design: NASA Swarmathon Competition. International Journal of Research Studies in Computer Science and Engineering, 1 (7): 29-36. https://doi.org/10.20431/2349-4859.0701004

Toupet, O., et al. (2018). Traction Control Design and Integration Onboard the Mars Science Laboratory Curiosity Rover. IEEE Aerospace Conference: 1-20. https://doi.org/10.1109/AERO.2018.8396761

Tunstel, E. (2007). Prototype Rover Field Testing and Planetary Surface Operations. Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems, 196-203. https://doi.org/10.1145/1660877.1660905

Volpe, R., et al. (1996). The Rocky 7 Mars rover prototype. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS ’96, 3: 1558-1564. https://doi.org/10.1109/IROS.1996.569020

Xu, Y., y Wang, Z. (2021). Visual Sensing Technologies in Robotic Welding: Recent Research Developments and Future Interests. Sensors and Actuators. A Physical, 320: 112551. https://doi.org/10.1016/j.sna.2021.112551

Yang, J.; Dong, M., y Ye, J. (2017). A Literature Review of the Rocker-Bogie Suspension for the Planetary Rover. AISR, 150: 137-142

Zheng, J., et al. (2018). Design and Terramechanics Analysis of a Mars Rover Utilizing Active Suspension. Mechanism and Machine Theory, 128: 125-149. https://doi.org/https://doi.org/10.1016/j.mechmachtheory.2018.05.002

Published

2022-01-14

How to Cite

Montaleza, C., Mayorga, X., Gallegos, J., & León, R. (2022). Design of a Robot Prototype with Rocker Geometry-Bogie. Enfoque UTE, 13(1), pp. 82 - 96. https://doi.org/10.29019/enfoqueute.804

Issue

Vol. 13 No. 1 (2022)

Section

Miscellaneous

Copyright (c) 2022 The Authors

Creative Commons License

This work is licensed under a Creative Commons Attribution 3.0 International License.

The articles and research published by the UTE University are carried out under the Open Access regime in electronic format. By submitting an article to any of the scientific journals of the UTE University, the author or authors accept these conditions.

The UTE applies the Creative Commons Attribution (CC-BY) license to articles in its scientific journals. Under this open access license, as an author you agree that anyone may reuse your article in whole or in part for any purpose, free of charge, including commercial purposes. Anyone can copy, distribute or reuse the content as long as the author and original source are correctly cited. This facilitates freedom of reuse and also ensures that content can be extracted without barriers for research needs.

 

This work is licensed under a Creative Commons Attribution 3.0 International (CC BY 3.0).

 

In addition, the journal Enfoque UTE guarantees and declares that authors always retain all copyrights to the original published works without restrictions [© The Author(s)]. Acknowledgment (BY): Any exploitation of the work is allowed, including a commercial purpose, as well as the creation of derivative works, the distribution of which is also allowed without any restriction.