Rocker Bogie Ppt

8/16/2019 Rocker Bogie Ppt

1/31

Anubhav Kumar Deergha Garg 12001004009 12001004015

Nitin Verma Rahul Hans 12001004037 12001004044

n!er the Gui!an"e #$Dr% A&a' Kumar

(e"hani"al )ngineering De*artment

Deenban!hu +hh#tu Ram niversit' #$ ,"% -.e"h% (urthal 1

DESIGN AND FABRICATION OF ROCKERBOGIE MECHANISM


2/31

CONTENTS TO BE COVERED

/ ntr#!u"ti#n/ Nee! an! (#tivati#n $#r the r#&e"t/ b&e"tive #$ the r#&e"t #r

/ ast resent - uture #$ the r#&e"t/ Relate! +#n"e*ts - .he#ries/ 6heel Design/ Re uirements/ +al"ulati#ns/ 8u!get - .able #$ Re uirements

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3/31

N.R D +. N

/ .he r#" er b#gie sus*ensi#n s'stem as :rst use! $#r the (ars R#ver an! is"urrentl' NA,A;s $av#ure! !esign $#r r#ver heel sus*ensi#n% .he intelligentl'!esigne! heel sus*ensi#n all# s the vehi"le t# traverse #ver ver' uneven #rr#ugh terrain an! even "limb #ver #bsta"les%

/ .he r#" er b#gie sus*ensi#n is a me"hanism that enables a si< heele!vehi"le t# *assivel' ee* all si< heels in "#nta"t ith a sur$a"e even hen!riving #n severel' uneven terrain%

/ ne #$ the mar sh#rt"#mings #$ "urrent r#" er b#gie r#vers is that the' are

sl# % n #r!er t# be able t# #ver"#me signi$i"antl' r#ugh terrain ith#utsigni$i"ant ris #$ $li**ing the vehi"le #r !amaging the sus*ensi#n= these r#b#tsm#ve sl# l' an! "limb #ver the #bsta"les b' having heels li$t ea"h *ie"e #$ thesus*ensi#n #ver the #bsta"le #ne *#rti#n at a time%

/ .hese r#b#ts are mainl' use! $#r tas s hi"h humans "ann#t !# an! hi"h

are n#t sa$e% 3



4/31

Nee! an! (#tivati#n $#r the sele"ti#n #$ r#&e"t

/R#" er b#gie sus*ensi#n s'stem that as $irst use! $#r the (ars R#ver ,#urneran! it;s "urrentl' NA,A;s $av#re! !esign $#r r#ver heel sus*ensi#n%

/.he nee! t# !evel#* s*e"iali>e! high $i!elit' s'stems "a*able #$ #*erating inharsh earth envir#nments t'*i"all' lea!s t# l#nger !evel#*ment timelines an!greater e


5/31

b&e"tive #$ r#&e"t 6#r/6e ill be $#"using #n eliminating the sh#rt"#mings #$ the r#ver that is the"urrent r#" er b#gie r#vers is that the' are sl# %

/.he r#vers ma!e $#r the e


6/31

ast= resent an! uture

/ ,in"e 197?= NA,A has been e


7/31

+uri#sit' R#ver +uri#sit' is a "ar si>e! r#b#ti"r#ver e


8/31

Relate! +#n"e*ts an! .he#ries

.ra"ti#n an! ,li*

/ .he r#ver must maintain g##! heel tra"ti#n in "hallenging r#ugh terrains% / $ tra"ti#n is t## high= the vehi"le "#nsumes a l#t #$ *# er in #r!er t# #ver"#methe $#r"e an! m#ve%

/ $ tra"ti#n is t## l# = the r#ver is n#t able t# "limb #ver #bsta"les #r in"line!sur$a"es%

/,li* #""urs hen the tra"ti#n $#r"e at a heel terrain "#nta"t *#int is largerthan the *r#!u"t #$ the n#rmal $#r"e at the same heel an! the $ri"ti#n"#e$:"ient% Hen"e= n# sli* #""urs i$ the "#n!iti#n

.i F Niis satis:e!%

/ n realit' it is ver' "hallenging t# !etermine the *re"ise $ri"ti#n "#e$:"ient $#rthe intera"ti#n #$ t # sur$a"es 8



9/31

Relate! +#n"e*ts - .he#ries

Bateral ,tabilit'

/ .he r#ver is sai! t# be stable hen it is in a uasi stati" state in hi"h it !#esn#t tilt #ver%

/.he lateral stabilit' #$ the r#ver ensures that the r#ver !#es n#t ti* si!e a's% As the r#ver has t # s'mmetri" si!es= the ge#metri" m#!el is use! t# :n! thelateral stabilit' #$ the vehi"le%

/ Bateral stabilit' is "#m*ute! b' :n!ing the minimum all# e! angle #n the

sl#*e be$#re the r#ver ti*s #ver%

/Bateral stabilit' #$ the r#ver is ensure! i$ the #verall stabilit' anglestab I J

% % min@ r= l I J

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10/31

10


11/31

(g > sin J (g 'l "#s J L N1 @'l 'r

Divi!ing the e uati#n b' >

(g sin J (g 'lE> "#s J L N1 @'l 'r E>

r#m the $igure ab#ve the 'lE> L tan l an! 'rE> Ltan r

(g sin J (g tan l "#s J L N1 @tan l tan r

Bet l r an! J be ver' small then

(g J (g l L N1 @ l r(g@ J l L N1 @ l r (g M N1@ J l @ l r J r

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12/31

Relate! +#n"e*ts - .he#ries

B#ngitu!inal ,tabilit'

/ A""#r!ing t#= l#ngitu!inal stabilit' #$ the vehi"le is given hen all heels havegr#un! "#nta"t an! the "#n!iti#n Ni M 0 is satis:e!= here Ni is the n#rmal$#r"e at heel i%

/ t sh#ul! be n#te! that even th#ugh this "#n!iti#n is "#m*uls#r' $#r the stati"alm#!el t# #r = a *h'si"al r#ver !#es n#t ne"essaril' ti* i$ a heel l##ses"#nta"t t# the gr#un!% H# ever= it is less steerable%

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13/31

,tati" ,tabilit' a"t#r

/ .he ,tati" ,tabilit' a"t#r @,, #$ a vehi"le is #ne hal$ the tra" i!th= .6=!ivi!e! b' h= the height #$ the "enter #$ gravit' ab#ve the r#a!%

/ A re!u"ti#n in +#G height in"reases the lateral inertial $#r"e ne"essar' t# "auser#ll#ver b' re!u"ing its leverage= an! the a!vantage is re*resente! b' anin"rease in the "#m*ute! value #$ ,, %

/ A i!er tra" i!th als# in"reases the lateral $#r"e ne"essar' t# "ause r#ll#verb' in"reasing the leverage #$ the vehi"leCs eight in resisting r#ll#ver= an! thata!vantage als# in"reases the "#m*ute! value #$ ,, %

/ .he inertial $#r"e hi"h "auses a vehi"le t# s a' #n its sus*ensi#n @an! r#ll#ver in e


14/31

Mo#i$ity

/ n #r!er t# g# #ver an #bsta"le= the $r#nt heels are $#r"e! against the #bsta"leb' the rear heels% .he r#tati#n #$ the $r#nt heel then li$ts the $r#nt #$ the vehi"leu* an! #ver the #bsta"le% / .he mi!!le heel is the *resse! against the #bsta"le b' the rear heel an!

*ulle! against the #bsta"le b' the $r#nt= until it is li$te! u* an! #ver%

/ inall'= the rear heel is *ulle! #ver the #bsta"le b' the $r#nt t # heels% Duringea"h heel;s traversal #$ the #bsta"le= $#r ar! *r#gress #$ the vehi"le is sl# e!#r "#m*letel' halte!%

/.hese r#vers m#ve sl# l' an! "limb #ver the #bsta"les b' having heels li$tea"h *ie"e #$ the sus*ensi#n #ver the #bsta"le #ne *#rti#n at a time%

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15/31

6heel Design

Velocity 8cm/s Velocity 10cm/s Velocity 12cm/s

RPM Diameter

RPM Diameter

RPM Diameter

M cm m cm m cm

10 0.153 15.277 10 0.191 19.096 10 0.229 22.915

20 0.076 7.638 20 0.095 9.548 20 0.115 11.45830 0.051 5.092 30 0.064 6.365 30 0.076 7.638

40 0.038 3.819 40 0.048 4.774 40 0.057 5.729

50 0.031 3.055 50 0.038 3.819 50 0.046 4.583

60 0.025 2.546 60 0.032 3.183 60 0.038 3.819

70 0.022 2.182 70 0.027 2.728 70 0.033 3.274

80 0.019 1.910 80 0.024 2.387 80 0.029 2.86490 0.017 1.697 90 0.021 2.122 90 0.025 2.546

100 0.015 1.528 100 0.019 1.910 100 0.023 2.292

110 0.014 1.389 110 0.017 1.736 110 0.021 2.083

120 0.013 1.273 120 0.016 1.591 120 0.019 1.910

130 0.012 1.175 130 0.015 1.469 130 0.018 1.763

140 0.011 1.091 140 0.014 1.364 140 0.016 1.63715



16/31

Re uirements # er ,u**l' 12 0 12 ,te* D# n trans$#rmer

Drive (#t#r De*en!s u*#n Availabilit' - +al"ulati#n 6e have "h#sen 30 r*m m#t#r

+#ntr#ls P#'sti" s ill be use! $#r ea"h halves

therRe uirements ull 6ave Re"ti$ier $#r the "#nversi#n #$

A%+% .# D%+%

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17/31

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A**li"ati#n - uture ,"#*e

/ 6ith the !evel#*ment in te"hn#l#g' the r#ver "an be use! $#r re"#nnaissan"e*ur*#ses ith the "ameras installe! #n the r#ver an! minimi>ing the si>e #$r#ver%

/ 6ith s#me !evel#*ments li e atta"hing arms t# the r#ver it "an be ma!euse$ul $#r the Bo%# Diffusin" S&uad su"h that it "an be able t# "ut the ires$#r !i$$using the b#mb%

/ 8' the !evel#*ment #$ a bigger m#!el it "an be use! $#r trans*#rting man an!material thr#ugh a r#ugh terrain #r #bsta"les "#ntaining regi#ns li e stairs%

/ 6e "#ul! !evel#* it int# a 'hee$ Chair t##% t "an be sen! in valle's= &ungles#r su"h *la"es here humans ma' $a"e s#me !anger%

/ t "an als# be !evel#*e! int# Suspension Syste% $#r the aut#m#bilevehi"les thr#ugh *r#*er resear"h%



18/31

Calculation-11. Diameter of W ee!

100 = QDNE?0

D =1909.86

!electe" D com#ination$D = 70 mm

= 27.28 %&m

D N

10 190.99

20 95.49

30 63.66

40 47.75

50 38.260 31.83

"# $".$%

80 23.87

90 21.22

100 19.1

18



19/31

2. Calculation o' ()eel #ase

* = 21.80

o+, +i"t) o' t)e stai%s is 400 mm.

!o t)e ma imum len t) o' t)e %o e%can #e 400mm.

o "e"uce t)e +)eel #ase, otal len t) %a"ius o' '%ont +)eel %a"ius o' %ea% +)eel=400- 35 35&''# mm

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20/31

3. en t) o' in s

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21/31

3. en t) o' in s

otal ()eel #ase = 330 mmet us assume, *=45

n %ian le C, an le C = 90

:n le C = :n le C = 45

)e%e'o%e, C = C2 2 = C 2C2 = 2 C 2 ; 1

=2 165 2

=54450 )e%e'o%e, C = 233.33mm


22/31

3. en t) o' in s Cont"

!u#stitutin to e>n 1 +e et,230 2 = 2 C 2 C = 162.63

:lso, : = C = 162.63n t%ian le :? , an le :? = 90

:? 2 ? 2 = :2:?2 = : 22:? 2 = 162.63 2:? = 114.99

=115 mmo+, "ue to symmet%y,

:? = ? = 115 mm? = : :? =230 115 =115 mm

)e%e'o%e, ? = 115

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23/31

(. Hei) t Ca!c*!atio+,

@ei )t 2 = C 2 C2

2302 162.63 2 1/2 = 162.639 mm

et @ei )t = )ei )t %a"ius = 162.639 35 = 197.639 mm

-. Trac Wi/t

+ = 513.86

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24/31

24

Ca!c*!atio+ 0 $A = 25.016

()eel#ase = 300 2 35 = 230mm



25/31

Ca!c*!atio+ 0$ Bsin same met)o" use" ea%lie% "imension o' t)e lin s is calculate"'o% t)e stai% s)o+n in &%e ious sli"e.



26/31

26

8u!get an! .able #$ Re uirements

S. No Item t2 Materia! B*/)et

1 in 4:c%ylic/(oo

" 500/100

2 !)a't 1 !! 100

3 ut olts /(as)e%s 4/8 !! 50

4 ()eel 6 lastic 35

5 ?oto% 6 :lloy 150

lect%ical

&u%c)ase

S. No Item t2 B*/)et

1 %ans'o%me% 1 150

2


27/31

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28/31

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!t%uctu%e (it)out t)e assem#ly o' moto%s an" +)eels



29/31

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!t%uctu%e +it) assem#ly o' all %e>ui%e" e>ui&ments



30/31

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nitial (o% in o' t)e ?ec)anism



31/31

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(o% in on a Com&le %ac l


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Rocker Bogie Ppt