Mobile rocker-bogie robot

The rocker-bogie platform moves with any suspension system

the tilt stability is limited by the height of the center of gravity

The "rocker" part of the suspension comes from the larger body-mounted linkage on each side of the platform. The "bogie" part of the suspension refers to the smaller linkage that pivots to the rocker in the middle and which has a drive wheel at each end. The rockers are connected to each other and the vehicle chassis through a differential. Relative to the chassis; they will rotate in opposite directions to maintain approximately equal wheel contact. One end of a rocker is fitted with a drive wheel, and the other end is pivoted to the bogie.

The rocker-bogie design has no springs or stub axles for each wheel, allowing the robot to climb over obstacles (such as rocks) that are up to twice the wheel's diameter in size while keeping all six wheels on the ground. Based on the center of mass, the platform can withstand a tilt of at least 45 degrees in any direction without overturning. The system is designed to be used at slow speed to minimize dynamic shocks and consequential damage the vehicle when surmounting sizable obstacles.

Countries & Year

Colombia - 2021

Authors

Hernando Leon-Rodriguez
Juan Manuel Alfonso
Paula Andrea Ladino Calderón
Oscar Alejandro Cárdenas Leal
Raul Alberto Urrego Aguilar