The rocker-bogie mechanism [9, 10] is a six-wheeled

mechanism with compliant links and is well-known for its

good obstacle adaptation ability. The rocker-bogie mechanism
was used as the base platform of the Mars exploration rovers
(Sojourner, Sprit, and Opportunity) of the National Aeronautics
and Space Administration (NASA) [11, 12]. Due to its mechanical simplicity and adaptability to various external
conditions, the rocker-bogie mechanism has a significant advantage
for hand-carrying stair climbing applications.

To maximize
climbing performance, an optimal design of the mechanism is
required to achieve robust and stable climbing. But the most of
NASA’s researches are focused on the kinematic state estimation based on the torque and slipping detection [13, 14].
We
performed an optimal design of a rocker-bogie mechanism for
a stair climbing application using Taguchi methodology.

Four
kinematic parameters of links and three of wheels were optimized to achieve stable and robust climbing. We selected
the
objective function considering both fluctuations of a cargo and
maximum tilting angle of the cart during stair climbing. Three
different sets of stair dimensions were considered as typical
user conditions. As a result, the stair climbing performance of
the rocker-bogie mechanism was improved by 33.5% (1.255
dB) through a two-step optimization.

2. Problem definition
2.1 Rocker-bogie mechanism
A rocker-bogie mechanism is a six-wheeled driving mechanism that has pair of two passive joints with wheels
attached
to each link. Every wheel can contact the ground simultaneously on uneven terrain; therefore, this mechanism can
maintain a stable condition. The shape of the rocker-bogie mechanism is shown in Fig. 1(a).
We now describe the details of each constraint.
(a) Maintenance contact on a horizontal plane
The radius of each wheel should maintain contact with the
stair tread for stable stair climbing. The upper radius limit is
from the wheel contact condition (the extreme stair dimension
is used as the worst case). The lower limit of the wheel radius
is determined by commercial availability.
(b) Formation of triangular-shaped link
Parameters (l1, l2, l4), which are related to link 1, are positioned in a triangular shape. Constraints are defined to
maintain this triangular shape. The three inequalities shown on the
right side were based on this limitation.
(c) Avoidance of wheel overlap between 1st and 2nd wheels
Due to the design complexity problem of the rocker-bogie
cart, overlapping between wheels should be prevented. To
avoid wheel overlapping distance between w1 and w2 (which
means l4) must be longer than the sum of r1 and r2.

(d) Avoidance of wheel overlap between 2nd and 3rd wheels

Wheel overlapping between the 2nd and 3rd wheel should be
avoided. w3 can be rotated along to the passive joint between
link 1 and link 2, and w2 and w3 can be overlapped. From this
condition, the constraint is defined as shown in Fig. 4(d).
(e) Size limitation
The size of the hand-carrying cart can be varied depending
on the purpose of the cart. In this study, the size range of the
rocker-bogie cart was limited based on the size of an ordinary
commercial shopping cart [17]. In addition, the wheel radius
was limited to be shorter than the link length for design simplicity

Disadvantages

Basic assumptions
The structure of the six-wheeled rocker lunar rover is
shown in Figure 1(e). Before the motion analysis, the
model of the lunar rover is assumed and simplified
according to its characteristics and previously published research content as follows:
1. The width of the wheels does not affect the motion
of the lunar rover according to the size of the prototype. Additionally, the width of the
rockers is
relatively small. Thus, the widths of the rockers
and wheels are ignored in the simplified model.
2. The six-wheeled rocker lunar rover can realize
the function of a zero radius of gyration.
Marching and steering are decoupled. Because
this article is focused on the marching process,
the steering mechanism is ignored.
3. The ground is assumed to be a rigid body.
Deformation caused by compaction and bulldozing is ignored.
4. The contact surface between the wheel and the
ground is simplified as the contact point because
of assumption 3
Advantages

There are several advantages to using such a system. First, it negates the
need
for axles and springs, which are usually susceptible to dust accumulations in
harsh
environmental conditions. As such, the lifespan and durability of the rocker-
bogie
system is longer. Second, it allows for each of the six wheels to remain in
contact
with the ground while it traverses over obstacles. It is important to note that
the rocker-bogie system allows for the rover to travel over steps up to two
times
the wheel diameter. Third, since each of the wheels is powered individually, it
allows for an equal balance of the load being spread between the wheels and
motors

Research

Research was conducted by Dr. David Miller and Dr. Tze-Liang Lee to improve
the rocker-bogie design to allow for higher speeds. This group recommended
an
eight-wheel design which minimized the chances of flipping as a result of
’wheelies’. While our rover is not intended to travel at high speeds, it is
possible for us to
create such a rocker-bogie system. However, we suspect that the efficiency
gained
by the extra wheel will be small compared to the increased power
consumption
from the extra wheel.

Other research has been conducted by Dr. Herve Hacot, Dr. Steven
Dubowsky,
and Dr. Philippe Bidaud from MIT which analyzed the force distribution and
stability of the robot. Their intent was to spread the driving torque as evenly
as
possible across each driving motor while maintaining a minimum ’stability
margin’. However, their work was based primarily upon computer simulation
instead
of actual experimentation. Nonetheless, the kinematic equations derived
from
their work will be valuable for our optimization efforts.

Research was conducted by Dr. David Miller and Dr. Tze-Liang Lee to improve
the rocker-bogie design to allow for higher speeds. This group recommended
an
eight-wheel design which minimized the chances of flipping as a result of
’wheelies’. While our rover is not intended to travel at high speeds, it is
possible for us to
create such a rocker-bogie system. However, we suspect that the efficiency
gained
by the extra wheel will be small compared to the increased power
consumption
from the extra wheel.
Other research has been conducted by Dr. Herve Hacot, Dr. Steven
Dubowsky,
and Dr. Philippe Bidaud from MIT which analyzed the force distribution and
stability of the robot. Their intent was to spread the driving torque as evenly
as
possible across each driving motor while maintaining a minimum ’stability
margin’. However, their work was based primarily upon computer simulation
instead
of actual experimentation. Nonetheless, the kinematic equations derived
from
their work will be valuable for our optimization efforts.
PDF 1

Although legged mechanisms have shown tremendous advantage in traversing uneven terrain and
climbing over obstacles, these robots have complex designs, need complex control strategies and are
sluggish. A wheeled mechanism is a better option due to its design simplicity, lower power consumption
and quick mobility. This justifies our choice of a wheeled robot. Power consumption in an urban search
and rescue robot is a cardinal performance factor, as the robot must not stop in the middle of a mission
by draining its power source. Hence, it is essential to develop energetically efficient robots for such
operations. The wheel diameter is one of the major design factors which affects power consumption.
Large wheels often become bulky, require high driving torque and thus result in greater power
consumption than smaller wheel. In the following development, we call the robots which use wheels
with diameter smaller than the stair riser height.
Firstly, a solution to overcome overhang is proposed by modifying the wheel design. Secondly, it poses
the parametric design of the robot as a multi-objective optimization problem

Setting the range for the design factors for this optimization problem forms a cardinal part of this work.
This is a critical job, as setting an arbitrary range can lead to some configurations in which the robot can
get stuck or even not climb. With a careful analysis of all the design factor we have logically backed every
design factor’s range selection. As a consequence of this design procedure, a prototype was fabricated
and is shown to climb stairs and overhangs of varying dimensions many of them long and protruding.
 drawing a parent circle P of radius rp and evenly spaced childcircles C ofradius rc
onthecircumferenceoftheparent circle. Varying the radius of parent circle and the number of child circles
changes the shape of the circumference of the wheel. We next describe the child circle size selection.
Shown in Figure 5 are two wheel designs with different radii for child circle (Wheel (a) with a greater
radius). The radius of the parent circle was kept same for both the wheels and the number of child circles
was set to a minimum value so as to not allow the child circles to be disjoint (this condition is explicated
in Section III.C.c) If for both the wheels, a point p on the child circle contacts the lower tip of the
overhang where slippage starts occurring due to the inability of the contact force to produce
counterclockwise moment about axis of rotation of module, then, Wheel (a) will take a greater time to
come out of this slippage. This is because the Wheel (a) needs to cover a greater arc length (A > B)
before coming to a point on the wheel periphery which ends slippage. Hence, it is better to keep the
radius of the child circle as low as possible. However, for practical purpose this radius cannot be set too
low. This is because wheels usually require a rubber covering which helps to provide traction. Setting
child circle radius too low will result in the rubber cover, mainly forming the child circle shape. Rubber is
deformable and would not result in providing the desired direction of the contact force, thus inapt to
provide the essential counterclockwise moment.
Suchgeometrywouldinfactbecomealmostcircularandthus resemble a normal circular wheel which fails in
overcoming overhang.

PDF 2

 As an optimization tool, the Taguchi method is adopted due to its simplicity and cost-
effectiveness both in formulating an objective function and in satisfying multiple constraints
simultaneously.
 The sensitivity analysis with respect to design parameters is carried out to provide an insight to
their effects on the performance criterion under kinematic constraints which are imposed to
avoid undesired interferences between a mobile robot and stairs.
 To evaluate the climbing capability of the optimized rocker-bogie mechanism, the friction
requirement metric is chosen, which is defined as a minimum friction coefficient required for a
mobile robot to climb a stair without slip.
 Through a kinetic analysis of astair-climbing motion,alocomotive strategysuitable
fortheproposedrocker-bogie mechanism is derived to minimize slip while climbing a stair and
successfully verified through extensive simulations.

According to a locomotive mechanism to achieve the desired mobility, mobile robots may be split into
following categories: leg-type, track-type and wheel-type mobile robots. While the leg-type mobile robot
ensures the most superior adaptability to all kinds of environments, its mechanism is quite complicated
because active control algorithms equipped with additional actuators and sensors are required to
steadily maintain its balance, which inevitably leads to slow movement and poor energy efficiency.

The track-type mobile robot provides acceptable mobility on an off-road environment by virtue of its
inherently stable mechanism but excessive friction loss during changing a direction also results in poor
energy efficiency [16]. Compared to other alternatives, the wheel-type mobile robot can be constructed
in the simplest configuration so that fast movement as well as good energy efficiency are guaranteed
without any complicated control strategy. However, its adaptability to an environment does not seem to
be sufficiently good and its mobility is restricted depending on both the type and the size of encountered
obstacle.

Recently, hybrid type mobile robots have been suggested in various configurations by combining two
locomotive mechanisms together. Several wheel-type locomotive mechanisms equipped with passive
linkages have successfully verified their mobile performances in real applications, for example, Mars
Exploration Rovers.

Based on the rocker-bogie mechanism, an optimal design of a stair-climbing wheel-type mobile robot
is first presented. The Taguchi method is chosen as an optimization tool to make the trajectory of CM
close to the straight line while all wheels keep in contact with the ground during climbing stairs.

Wheeled locomotion’s main component is its suspension mechanism which connects the wheels to the
main body or platform. This connection can be in several ways like springs, elastic rods or rigid
mechanisms. Most of the heavy vehicles like trucks and train wagons use leaf springs. For comfortable
driving, cars use a complex spring, damping and mechanism combination. Generally, exploration robots
are driven on the rough surface which consists of different sized stones and soft sand. For this reason,
car suspensions are not applicable for rovers. The requirements of a rover suspension are;

• As simple and lightweight as possible

• Connections should be without spring to maintain equal traction force on wheels

• Distribute load equally to each wheel for most of the orientation possibilities to prevent from slipping

A rover’s obstacle limit generally compared with robot’s wheel size. In four wheel drive off-road vehicles,
limit is nearly half of their wheel diameter [4]. It is possible to pass over more than this height by
pushing driving wheel to obstacle which can be called as climbing. Step or stair climbing is the maximum
limit of obstacles. The contact point of wheel and obstacle is at the same height with wheel center for
this condition. Field tests show that Mars mobile robots should be able to overcome at least 1.5 times
height of its wheel diameter. This limitation narrows the mobile robot selection alternatives and forces
scientists to improve their current designs and study on new rovers.
 The main advantage of the rocker bogie suspension is load on each wheel is nearly
identical. The connection between symmetrical lateral mechanisms is provided by a differential
mechanism which is located inside the body. Rotation of axles which are connected two rockers are
averaged, thus, vehicle body pitch angle always adapted even if one side steps over obstacle.
As we discuss in wheel forces, there are several forces act on wheel on x axis. If the surface friction of an
obstacle is not enough to climb, obstacle force (Fobs) can reach high values. This problem can also occur
while middle wheel actuator failure.

Dimensional synthesis theories are used to generate a special curve with coupler. Linear motion
mechanisms have wide usage area in suspension mechanism design. Most of the suspension members
are needed to move on a straight line for lateral motion of an axle [5]. In theoretically, a four-bar
mechanism generates a coupler curve in 6th order equation. Some portion of this curve can be close to a
theoretical line with small deviation which can be neglected [6]. Usually, these mechanisms generate
linear motion from a rotational motion of a crank. For this kind of design, force transmits from crank to
coupler.

Chebyshev’s Lambda Mechanism (Hoeken Mechanism)

Although, most of the books named Hoeken mechanism [7, 49, 50]; the first definitions of lambda (λ)
mechanism are proposed by famous mathematician Chebyshev, Pafnuty Lvovich in 1869 [8, 9, 12].
Lambda mechanism is another four-bar straight line generator. Crank link can rotate 360 degrees while
the coupler point moves on coupler curve. Curve has two characteristic motions. First part is straight line
and second part is a quick return curve.
Aim is to make the d.o.f 1 just like I did it formula student car.

Four-bar mechanism gets singularity if transmission angle β reaches 0 or 180 degrees where input link
(coupler) cannot transmit force to output link (rocker). This problem can be solved with help of other link
or inertia effects.

Lambda mechanism has two singular configurations like other four-bar mechanisms.
Double-Lambda Mechanism Connection
 Symmetric lambda mechanisms are connected to each other with a V-shaped rigid link.
Angle τ can be selected by geometrically. The constraint of this angle is ground clearance of bogie (hc)
and maximum obstacle capacity. For our parameters, optimum connection angle τ = 160o.

Rocker-bogie mechanism has advantages while distributing load on the wheels nearly equal. To obtain
this useful property, double lambda mechanism can be combined with former rocker-bogie design.
Two planar mechanisms are connected to each other by a differential mechanism. When one side
climbing over obstacle, this mechanism rotates the main body around the rocker joints by average angle
of two sides

Gear A connected to left, gear B connected to right and C is assembled on the main platform. In
differential mechanisms, all gear ratios are same. That means if gear A rotates 10 degrees and gear B
rotates 20 degrees, main platform will rotate 15 degrees.