PROJECT TITLE

Design & Modification of Arduino Based Rocker Bogie Mechanism for

Security and Spy Purposes

Project Supervisor: Abdul Hameed Baloch

Co-supervisor: Engr. Javed Iqbal

Department of Mechanical Engineering

Balochistan University of Engineering and Technology Khuzdar

 GROUP MEMBERS

1. Hafiz Bilal Khan (16Me27) Group Leader

2. Ahmed wali (16ME16) Member
3. Naïf Bugti (16ME22) Member
4. Ham Mengal (16ME31) Member
5. Abdullah (16ME43) Member
6. Marjan Khan (15ME49) Member
 CONTENTS

 Background
 Problem Statement
 Project Objective
 Literature Review
 Methodology
 Conclusion
 Future work
 References
 Background
 Lunakhod: The first Planetary Geological Exploration Rover
selected was “Lunakhod” which has been sent moon twice with
USSR – Luna missions to collect information around settled site
and send images of environment.

Lunakhod

 Sojourner: In 1996, NASA – jet propulsion laboratory and

California institute of Technology have designed improved rovers
with similar structure named Sojourner and Marie-curie. These tiny
rovers were only 10.5 kilograms and microwave oven sized.

Sojourner
 Cont…

 Nanorover: Invented for exploration of small celestial bodies like comets

and asteroids in space.

Nanorover

 Shrimp: Shrimp is also a different six-wheeled rover. It has a one front

four-bar to climb over obstacles up to two wheel diameter with no stability
problem.

Shrimp
 Cont…

 Inflatable Rover: Another alternative to move on a hard environment is to

have big wheels. If a rover has larger wheels compared to obstacles, it can
easily operate over most of the uneven rocky surfaces. Researches have
shown that inflatable rover with 1.5 meter wheel diameter can travel about
99% of the area. Inflatable rover has 3 wheels which the motor drives.

Inflatable Rover
Problem Statement

 Previously designed Rovers can climb from 15 to 30 degrees inclined surfaces. This
suggested range of climbing angles may not be effective to climb more steep surfaces.
 In order to use Rovers for spy purposes we need to alter the climbing angle for better
stability and climbing action over the hilly surfaces.
 Human life is in danger while detectoing the bomibing sites or they are on duty to act as a
spy.
Project Objective
 Rocker bogie mechanism is simple in design, locomotive, compact in size, cheap in
manufacturing and can solve the present security problems and enhancement in security
system.
 Our project objective is to climb obstacles double of it’s wheel diameter and change the
inclination angle of 45-60 degrees in order to have good climbing hold.
 In addition we are going to use venta black colour to make it invisible in night
 In addition we use metal detector and camera for spy purposes.
 Literature Review
Literature review provides all the theory part or that related with documentation for the project that being
developed.

B.D Harington and C.Voorhees [1] (2004) “The challenges of designing the rocker bogie suspension for
the mars exploration rover”, proceeding of the 37th Aerospace mechanisms symposium.
 It work on rocker bogie suspension system for mars exploration and design there front limbs at 180
degree according to Mars surface.
 In Rover bogie mechanism all the wheels on the ground while moving, so there will be equal distribution
of load on all wheels
 Cont…

Thomas Thueer, Pierre Lemon [2] (2006) ”Crab-Exploration Rover With Advanced Obstacles Negotiation
Capabilities”
 Introduced RCL Crab Linkage/Mechanism With Increased Distance Between Parts Have Also Increased The
Overall Performance Of The Rover

Crab Rover

Herve Hacot, Steven Dubowsky, Philippe Bidaud Hac-Dub-Bid [3] (1998-07) “Analysis and Simulation of a
Rocker Bogie exploration Rover”
 Involves force analyses & simulation of a rocker bogie mechanism
 Cont…
A.Maghdari, R.Karimi And S.H.Mehboobi [4] (2001) “An effective approach
for dynamic analysis of Rover ” Centre Of Excellence In Design, Robotics And
Automation(CEDRA).
 Design & control of these robots are based on their equations of motion, here
inverse kinematics and Kane’s method is applied on 6-wheeled Rocker-Bogie
rovers such as The JPL Sojourner Rover. CEDRA Rescue Robot

Michel Lauria, Reinhold Bertrand & Michal Vein Winnendael [5] “Design &
control of an innovative Micro-rover” Swiss Federal Institute Of Technology
Lausanne(EPFL), Switzerland
 Designed a rover that can overcome obstacle 0.1m height and width holes.
 Do not stuck in sand and have flip over stability. Recovered after flipping over and
having buried in sand.
Space Cat
 This rover can climb slope of 15 degrees upward & 20 degrees downward
 Cont…
A.Winterholler, M.Roman,T.Hunt,andD.P.Miller [6] (2004) “Design of A high
mobility low-weight lunar rover”
 It works on time delay and convection band width, which helps to make an
improved operated system where we get quick response under environmental
conditions like high temperature & pressure.
Copernicus rover
 The system helps cover maximum distance in short interval of time
 Here the inclination is of 30 degrees

L. Bruzzone1 And G. Quagli [7] (2012) “Locomotion

systems for ground mobile robots in unstructured
environments”,
 Analysis focused on field application of spatial exploration
and four hybrid) are discussed separately.
 Cont…

Karan Patil, Prof. Yogesh Mahulkar [10], (2019), “International

Research Journal of Engineering and Technology (IRJET)” April
2019
 Background of rover is defined using Lambda mechanism proposed by
mathematicians. lambda mechanism is a “Newly introduced suspension
system” where it is inclined at an angle of 180 degree.
Solar Tracking Rover
 Main focus was to increase use of rover in field operation & allow
speed high operations.
Literature review summary

 Previous all literature reviews were designed to work on Mars surfaces

 These rovers were used to collect samples (soil, rocks etc.)
 Inclining angle was varying between 15 to 30 degrees
 The previous designed rovers were facing time delay problem
 They were expensive in manufacturing and were large in size
 They were complex in designs
Cont…

Comparison of our project mechanism with IRJET Rover mechanism

 It is designed for security purpose
 It was designed for solar rays detection
 Angle of bogie is 45 degrees.
 Bogie angle 0 to 180 degree
 Force equally distributed
 Force concentration on a single point
 Can climb obstacles twice the diameter of its wheels
 Can climb obstacles twice the diameter of its wheels
and move freely on a pointy rocks
but can’t move freely on a pointy rocks
 Meter detector and camera is used
 Solar sensors were used
 Methodology

 The rocker bogie mechanism is responsible for its mobility

 The Rover rode a six-wheeled rocker bogie The suspension system makes sure the wheels stay on Driving
in a certain region and allows it Rover to overcome obstacles.
 Each wheel has its own motor. The car revolves around the whole place, turning and turning, turning the
altar.
 There is a rover designed to withstand 45 degree tilt in any direction without reversal.
 The rover is wirelessly controlled and this signal is provided by a smartphone that is linked to Arduino
through software.
Circuit Diagram
Working
MIT App
 Results

The rocker bogie mechanism is responsible for its mobility. The rover rode a
six-wheeled rocker bogie suspension system makes sure the wheels stay on
Driving in a certain region and allows Rover to overcome obstacles. Each
wheel has its own motor. The car revolves around the whole place, and to
Swerve and curve, turning the altar. The rover is designed to withstand 45
degree tilt in any direction without reversal. The rover is wirelessly controlled
and this signal is provided by a remote that is LinkedIn to Arduino through
software
 Major Components & System Design

 PVC Pipes

 PVC Pipe Joints ( 90 Degree Elbow, Coupling)

 Clips (Hang Clamp)

 L293D Motors Drivers
 Ardiuno (UNO)
 Camera (V380)

 Metal Detector

 Node MCU ESP8266

 Connecting Wires

 Battery
 Conclusion

 With the increasing advances in extraterrestrial reconnaissance rover

technologies, this robotic technology can also be seen as a potential
application on Earth.
 Its real-time video surveillance and feedback feature helps detect various
threats in places where human access is not possible.
 Due to its compact design, it can be used in military and defense fields.
 In the near future, dancing, rehabilitation, surveying, risk management and
so on can change the need for human needs.
 This technology has unlimited possibilities that will be used in various
applications.
 Future Work

 As a modular research platform, the rover developed by this project is specifically

designed to facilitate future work. With advances in technology, the rover can be
used for re-surveillance purposes, with the camera installed and the size of the rover
minimized. With some progress like attaching weapons to the rover.
 It can be used for bomb disposal squads so that they can cut the wires to detonate
bombs.
 With the development of the larger model, it can be used to transport human and
material roughness through rough terrain or barrier-like barriers. We can also
promote it in a wheelchair.
 It can be sent to valleys, forests or places where humans may be in danger. It can also
be built into a low-cost exploration rover that can be sent to gather information about
the atmosphere of some celestial bodies.
 References

[1] IRJET “review on rover with rocker-bogie linkage mounted with ultrasonic
sensor and Bluetooth module with solar energy”
[2] B.D Rarington and C. Voorhees. “The challenges of designing the rocker
bogie suspension for the mars exploration rover”, proceeding of the 37th
aerospace mechanisms symposium, 2004.
[3] A.Winterholler, Et-al (2005) “design of A high-mobility low-weight lunar
rover” proceedings of ISAIRAS 2005. Munich Germany, September 2005.
[4] Thomas Thueer, Pierre Lemon, “carb-exploration rover with advanced
obstacles negotiation capabilities”, November 2006
[5] P.E.Sandin, robot mechanisms and mechanical devices illustrated, MCgraw hill
New York, 2003
[6] D. Bickler, “roving over mars,” mechanical engineering magazine, American
society of mechanical engineers, April 1998.
 References
[7] Herve Hacot, Steven Dubowsky, Philippe Bidaud Hac-Dub-Bid “Analysis
And Simulation Of A Rocker Bogie Exploration Rover” 1998-07
[8] L. Bruzzone And G. Guaglia, “Locomotion systems for ground mobile
Robots in unstructured environments”, 2012.
[9] Chenyu Lio, Dawei Yu And Donald W.Kirk “Electromagnetic wave
absorption of Silicon Carbide based materials", February 2017
[10] DongmokKim, et –al “Optimal Design Of Hand & Carrying Rocker & Bogie
Mechanism For Stair Climbing. (2012)
[11] Kazuya Yoshida, Hisafumi Asai & Hiroshi Hamano “Motion Dynamic
Simulations and Experiments of an Exploration Rover on Natural Terrai” 2001
[12] T. Thueer, A. Krebs, And R. Siegwart, "comprehensive locomotion
performance evaluation of all-terrain Robots," In IEEE International Conference
On Intelligent Robots & Systems (IROS'06), Beijing, China, 2006.