Determined Material Selection on Adaptive Control Based Rocker Bogie for Different Manufacturing Configurations of Mobile Robot

Abstract

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 high-speed traversal over the planar terrain. This paper proposes a new dynamic rocker-bogie suspension system with two modes of operation: it can expand the span of the rocker-bogie support polygon to increase travel rate when the terrain is planar; and it can switch to its original configuration to move by low speed when it is faced with rough terrain. Rocker-Bogie mechanismand selection of materials for this specialized robot plays a very significant role in planetary exploration. The rocker refers the longer links present on each side of the suspension system. The bogie describes the links that have a drive wheel at each end. The different rocker bogie configurations for Rover were designed, fabricated and Tested in Mars like environment. In this work both 6 wheeled rover and 8 rovers were considered. The research output will be useful in the field of Mars rover.