文章基本信息

标题：Design of Stair-Climbing Rocker-Bogie Mechanism
本地全文：下载
作者：Abhaykant Sinha ; Reshma Sinha
期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2018
卷号：7
期号：7
页码：8316-8323
DOI：10.15680/IJIRSET.2018.70707064
出版社：S&S Publications
摘要：In planetary exploration, Rocker-Bogie Mechanism will continue to play a significant role. Present mobility designs are complicated, using number of wheels or legs. They are not built up to mechanical failure initiated by the tough environment on Mars. Four-Wheeled rovers are capable of navigating rough terrain using an effective high degree of mobility suspension system. Drive train ease is the fundamental mechanical feature of the rocker-bogie design, which is accomplished using only two motors for mobility. Inside the body where thermal deviation is kept to a lowest, both motors are located that is responsible for increasing reliability and efficiency. Since there are few hindrances on natural terrain that need both front wheels of the rover to climb simultaneously, six wheels are used. Analytical models of how the rover interacts with its environment are essential to design and control these. Models are too needed for rover action planning. A series of mobility experiments in the uneven roads, agricultural land, inclined stairs and difficult surfaces established that rocker bogie can accomplish some distance traverses on the field.
关键词：Rocker bogie; Stair climbing; Rover; Wheel type mobile robot