Design and Fabrication of Rocker Bogie

Abstract

The rocker-bogie suspension system is capable of dealing with difficult terrain since it evenly distributes the burden among its six wheels, but it has one major drawback when traversing planar terrain at high speeds. A novel dynamic rocker-bogie is proposed in this work. It can widen the span of the rocker-bogie support in one of two modes of operation. When the landscape is planar, use a polygon to boost the travel rate. When it encounters tough terrain, it can revert to its original mode of moving at a modest speed. The dynamic stability margin analysis and kinematical simulation of the two rocker-bogie operating modes are presented.