PROJECT

DESIGN AND FABRICATIONS OF A BOGIE FOR ARDRO

(Advanced Roving Device for Rescue Operations)

CHAPTER-1 INTRODUCTION
CHAPTER-2 LITERATURE REVIEW
CHAPTER-3 PROBLEM DEFINITION AND MOTIVATION TO DO THE WORK
CHAPTER-4 DESIGN OF VARIOUS ELEMENTS OF DEVICE
A. Design Of Front Fork Linkages
Graphical methods of dimensional synthesis
Mathematical Formulas and Calculations
Design Of Parallel Side Bogie
Designing Robot Structure
Selection Of Motors
Minimum Required Torque For Front Motor

Torque Produced By Selected Motor

B. Design on AutoCAD
CHAPTER-5 FABRICATION OF DEVICE
CHAPTER-6 SCOPE FOR FUTURE WORK
REFERENCES

37
1

CHAPTER-1 INTRODUCTION
The purpose of this project is to design and manufacturing a rescue robot bogie. In
rescue like operations, a person may encounter difficulties in seeking and assisting the
victims properly, especially in unstructured environment. Therefore using a robot to search
for injured persons as well as describing the best path to reach a victim reduces the risk in a
rescue operation. In contrast, it will increase the accuracy, safety, and the speed of a rescue
operation.
One of the challenging issues in the design of the rescue robots is their ability to
handle unstructured and unstable physical conditions of the working environment.
In order to fulfill a good rescue operation especially in uneven and unstable terrains a rescue
robot must have some features listed:
1. Adaptation and smooth movement on the uneven terrains.
2. Passing obstacles of different sizes.
3. A Tip over stability.
4.

Ability to come out of holes and continue motion even when problems occur for
individual wheels.
The main structure is based on a shrimp mechanism. As a general rule, rover robots are

more adaptable and stable than walking robots. They are less complicated and more efficient
in unstructured environments. The only deficiency in shrimp rovers is that they cannot
generally climb too high.
In order to fulfill the above requirements the ARDRO will have the mechanical design as per
given below:
The ARDRO has six wheels that operate separately; back and front wheels and four
side wheels that are mounted in parallel bogies system. Its special design, flexible elbows, a
spring fitted in the front elbow that work as a pushing force, makes it possible for robot to
2

adjust rough areas and obstacles such that all six wheels touch the ground
simultaneously(fig.1).
Each wheel is driven by its own motor. The rear motor is fixed permanently to the chassis
body, and the remaining five motors are on pivoting legs.
Each side of the chassis has a pair of wheels mounted on legs. The legs are connected by two
cross plates and pivot at two points.

Fig.1 Robot flexibility in Convex / Concave environment.

The wheels are coupled so that the force distribution be the best possible. The spring
and dimensions of the robot are designed in a way that when it is standing on a planar
surface, forces acted on all six wheels are the same.
This robot is somewhat similar in motion to the sea shrimp. The idea of using a
shrimp like mechanism in climbing the obstacles was first demonstrated in EPFL [1]. This
Robot is similar to Rocky7 [2], Sojourer [3] and Marsokhod [4] in some parts but adding a
four-link mechanism in front of the robot has made it more efficient encountering the
obstacles(fig.2 b).
Processing and optimization of design parameters in order to reach the desired
behavior consist of many stages in kinematical design and dynamical analysis. First

kinematics of the front fork is considered; then the other parameters will be optimized
according to the mentioned goals.

Fig.2 Parallel mechanisms a) virtual rotation axis of a bogie b) front fork kinematics.
Because the instantaneous rotation center is placed below the wheel axis, the fork passively
folds for climbing an obstacle.
The Center of Gravitys path:
The robot is designed to be able to climb stairs with 20 cm in height. While passing through
obstacles, front and side wheels mechanism cause the center of gravity to move gently.
Robot behavior while passing stairs is shown in Fig.3. In this picture, path of C.G on stairs is
very close to the behavior of a slope with the average stair slope. To soften the movement,
two parameters of size and location of bogies play an important role. Path of C.G while
climbing stairs is shown in Fig.4 for different values of bogies size.

Fig.3The path of C.G on stairs

4

Fig.4 The path of center of gravity for various bogies size (all dimensions are in cm)

APPLICATIONS OF ARDRO:

Military operations for underground surveillance systems viz. bunker operations.

Civilian operations like Lal masjid case.

Rescue operations for natural disasters like earth quakes, fire rescue etc.

It is very well suitable for space operations.

If scaled up, works as a wheelchair on structured as well as unstructured environment.

ARDRO can also be used in military mine detection, combat, search operations.

CHAPTER-2 LITERATURE REVIEW

Rough terrain robotics is a fast evolving field of research and a lot of effort is being put
towards realizing fully autonomous outdoor robots. Such robots are applied in the scientific
exploration of hostile environments like deserts, volcanoes, the Antarctic or other planets.
There is also a high level of interest for such robots for search and rescuing after natural or
artificial disasters. Various robots have already been designed with different kinematics and
dynamic respect but somewhat working on closed loop kinematics. Some robots using the
same principle as generally used in rescue robots and space rovers are given:
A. MARS EXPLORATION ROVER (MER); Fig.5

Fig.5 Mars Exploration Rover (MER) of NASA

The MER (Spirit / Opportunity) are the most well known rocker bogie type rovers. The
design has six wheels, whereas the front wheels are equipped with steering capability. It is an
asymmetric design; the distance between the wheels is not equal. In order to have equal load
on all wheels the horizontal position of the centre of mass (COM) is slightly shifted forward.
Other robots like Rocky7 [2], FIDO [10] and Sojourner [11] are based on very similar
locomotion systems with small changes.
B. CRAB; Fig.6

Fig.6 CRAB (EPFL)

6

The CRAB has two parallel bogies connected at the bottom through the middle wheel
and at the top with a rotational joint to prevent hyper-statism. The vertical middle levers of
the bogies are placed at a 2/3 1/3 ratio from the middle wheel in order to distribute the
weight of chassis and payload evenly on all wheels because the COM is exactly above the
middle wheel.
C. RCL-E; Fig.7

Fig.7 Concept E (RCL-E) of Rover Science and Technology Company developed for ESA
The RCL-E has one parallel bogie on each side in front. The back wheels are
mounted on a transversal parallel bogie that serves as a leveling mechanism in case of
asymmetric obstacles. However, this mechanism has no influence on 2D terrains and can be
replaced by a rigid link between chassis and back wheel without changing the kinematics of
the rover. The COM is situated above the middle wheel.
D. RCL-C; Fig.8

Fig.8 Concept C (RCL-C) of RCL developed for ESA

The RCL-C has a bogie between back and middle wheel, whereas there is a structure
with a joint in between middle and front wheel. Both these elements are connected with a
joint to the chassis forming a closed kinematical loop. The COM is situated above the middle
wheel.

E. CRAB-S; Fig.9
The CRAB-S concept is similar to the CRAB, but the parallel bogies were replaced by
regular bogies and connection joints were added to the bogies to provide the required degrees
of freedom. The system is symmetric with the COM in the middle.

Fig.9 CRAB-S (new concept)

F. CRAB-8; Fig.10

Fig.10 CRAB-8
The CRAB-8 concept is an eight wheeled suspension system that makes use of two
parallel bogies on each side which are connected to the chassis. The system is symmetric
with the COM in the middle.
F. DOUBLE SPRING; Fig.11

Fig.11 Double Spring

It consists mainly of a chassis with two wheels on each side and wheeled trailer-like
structures in the front and back. Compression springs between chassis and trailers help to
distribute the load evenly on all wheels. The system is symmetric with the COM in the
middle.
8

CHAPTER-3 PROBLEM DEFINITION AND MOTIVATION TO DO THE WORK

Natural disasters like earthquakes, fire etc. lead to very large human life losses in
every year in various countries. In case of earthquakes human bodies are found under the
destroyed building structures. The one and the most necessary step is to find out the injured
person and give them a medical treatment as soon as possible. One of the major challenging
issues in rescue operations is the non-availability of rescue teams in sufficient number.

Fig12. A unstructured environment created by earthquakes.

In the same manner fire rescue operations also required to search the victims inside
any fire regions, it leads to very large time if done manually. And it is difficult for rescue
team also to survive inside fire regions.
In case of gas tragedies in any industry it is very difficult to survive inside the
affected region because of the harmful gases. And rescue members face difficulties to search
the workers in time. It is quite possible to reduce the number of victims if they are searched
in a lesser time.

One of the major challenging issues for army is to secure the national borders from
terrorists. In case of mountains and hilly areas at a very long height it is difficult to breath for
army persons due to lack of oxygen and pressure.
We all are very well known about the projects from various space organizations like
NASA and ISRO. The robots are sent to the space and they send us the information about the
environment present there. One of the major problems for robots is to move on the surface of
planets. There may be various types of obstacles or hindrances in the paths of such robots
which is to be overcome by them.

Fig13. Space unstructured surface

These all respects motivate us to build a device which can work as a rescue team
member. For almost the entire above operations one of the challenging issues for rescue
members is to handle the unstructured environment.
Thus our project objective is to make a device which can handle the unstructured
surface and environment.

10

CHAPTER-4 DESIGN OF VARIOUS ELEMENTS OF DEVICE

A. Design of front fork linkages:
The robots front fork has three roles as described below:
A. The spring makes it possible for wheels to touch the ground all the time.
B. When the robot encounters an obstacle; the horizontal force acting on the front wheel
creates a torque around the instantaneous rotating center of the front wheel. The four
bar mechanism design in the front wheel, shows that the instant center is set under the
horizontal line, and therefore causes the wheel to move up accordingly.
C. When the front wheel is going up, spring is compressed and energy is stored in the
front wheel. Although, other wheels are not in a good condition during climbing and
they don't touch the ground completely, but this stored energy helps them to move up
easier. Figure shows the performance of the front fork in passing obstacles.
ARDRO behavior is completely dependant on the characteristics of the front fork. Design
criteria of front fork are:

Inclination to move upward via obstacle climbing.

Tendency of the robot to move forward while the front wheel is climbing. Proper
range of ascending and descending.

Sufficient storage of energy in the spring mounted on the mechanism to help the other
parts in climbing.
Meeting the first criterion deserves a large force component on the coupler curve in

the direction which causes the upward motion. Below fig.14 shows the coupler curve of a
mechanism in three different situations.

11

Fig.14 coupler curve of a mechanism in three different situations.

As seen in the fig.15, the less the coupler curve angle, the more the upward
component of force will be. Hence only small angles meet our requirement for part1. On the
other hand, to have upward motion the instantaneous of rotation of link 3 relative to the body
must be under the line which is in direction horizontal force. In this situation torque of
horizontal force about instantaneous center of rotation (ICR) is positive (counterclockwise)
as shown in fig.4.
When the robot encounters an obstacle; the horizontal force acting on the front wheel
creates a torque around the instantaneous rotating center of the front wheel (fig.4). The four
bar mechanism design in the front wheel, shows that the instant center is set under the
horizontal line, and therefore causes the wheel to move up accordingly.

Fig.15 The front wheel

12

T = F h >0

Fig.16 Positive Torque of Force Relative to ICR

If we want to have h>0 in total scaling time the main idea is keeping the dimensions
of links 2 and 4 near each other to make the center of rotation farther away. In this approach
the coupler curve angle should be too small during the upward motion of the front wheel. For
the second criterion it is enough to have a small coupler curve angle relative to horizontal,
but for a good range of ascending/descending this angle shouldnt be too small. Therefore we
have to compromise between these two goals for a good range of ascending /descending and
minimum torque in climbing. When the front wheel falls in holes, the resultant force on the
mechanism should help it out. Also to avoid locking the front fork when getting down the
stairs we shouldnt approach to the dead point of the mechanism.

13

Graphical methods of dimensional synthesis: [6]

Fig.17 Graphical methods of dimensional synthesis

Graphical methods have advantage in that they are relatively fast in producing result
and, at the same time they maintain touch with physical reality to a much larger extent than
do the algebraic methods. Also geometric methods are easier to understand and the degree of
accuracy is adequate for all practical purposes.
Motion Generation (fig. 17):
Poles and relative poles:-consider a rigid body, represented by a link A1B1 to undergo a
finite displacement so as to occupy a position A2B2 as shown in figure. Mid-normals drawn to
the lines joining point A1 to A2 and B1 to B2 meet at point P12, which is called pole of the
finite displacement of the body from position 1 to position 2.the rigid body A 1B1 can be
considered to have motion of body rotation about the pole P 12 in describing finite
displacement from position 1 to 2.

14

Join points A1, B1 and A2, B2 to pole P12 .Body rotation of link A1B1 about the pole P12
can now be conceived as rotation of triangle P12B1A1 about imaginary pivot P12.With this
concept clearly,
`

< B1 P12 B2 = <A1 P12 A2 = 2 12

Again as triangles B1N2P12 and B2N2P12 are identical,

<B1P12N2= <B2P12N2= 12
Also triangles A1P12N1 and A2P12N2 are identical, and as such
<A1P12N1= <A2P12N1=12
The position of pole P12 therefore, depends only on the initial and final position of the
rigid body, representing by the line AB further discussions above refer to finite displacement
as distinct from the concept of infinitesimally small displacement. Clearly when angle 2 12 of
rotation infinitesimally small, the pole P12 becomes the instantaneous centre of rotation.
An important rule follows from above discussions considering to finitely separated
positions A1B1 and A2B2 of line AB, let OA and OB be arbitrarily selected position of pivots
along midnormals of lines A1A2 and B1B2 respectively. Let OBN2 and OAN1 be the
midnormals of lines B1B2 and A1A2, intersecting at point P12 to give pole of rotation from
discussions above,
<B1P12N2 =<A1P12N1= 12/2 join A1 to P12.
Adding common angles <A1P12N2 to equal angles <B1P12N2 and <A1P12N2 (each equal to 12/2
we conclude that <OaP12A1 = < A1P12 Ob.
This leads to following generalized rule:
The coupler and the frame link subtend angles at the pole P 12 which are either equal
or differ from each other by an angle of 180.
If the pole P12 happens to fall too away from frame as in fig.6, the link AB can be
guided as a coupler of 4-bar mechanism with pivots located suitably at Oa and Ob on the
15

mid-normals of lines joining A1, A2 and B1, B2. The point A is called circle point because an
arc of circle can be passes through the corresponding positions A1 and A2.Corresponding
centre- point in the form of fixed pivot Oa, can in fact be located anywhere along the midnormal of line A1A2 and will be known as center point- conjugate to the circle point A. A link
joining center point to the circle point can guide point A from A 1 to A2. Similar discussion is
valid for circle point B and its conjugate center point (fixed pivot) Ob .
In rigid body guidance (i.e. motion generation) a designer has the choice of selecting
position of line AB anywhere in the body or its extension. Thus in guiding a rigid body
through two positions three free choices exists for selecting a pair of circle point and
corresponding center point: two choices in respect of independent variables x and y for point
a in the coordinate frame and one in respect of location of fixed pivot Oa anywhere along
mid-normal of line joining two positions A1 and A2 of point A. Therefore three infinites of
solution are possible for fixing a pair of circle point and center point in constructing a 4-bar
linkage for rigid body guidance. Even if it is not possible to locate fixed pivot O B on the midnormal of B1B2, it does not matter.
We have applied this synthesis for four bar front fork mechanism for a vertical
displacement of 15 cm and get the lengths of linkages as shown in figure 17.

Mathematical Formulas and Calculations:

Freudensteins equation (equation for displacement): [6]
16

It is used to find the length of links & also calculate the displacements of links. Consider a
four bar mechanism of ABCD as shown in fig.7 in which O2A=L2, AB=L3, BO4=L4, O2O4=L1.
The link O2O4 is fixed & lies along X-axis .Let the links O 2A, AB, BO4, O2O4 makes angles
2, 3 and 4 respectively along the X-axis or link O2O4.

Fig.18 Freudensteins equation (equation for displacement)

The relation between the angles & the lengths may be developed by considering the links as
vectors.
Displacement Analysis: - For equilibrium of the mechanism, the sum of the components
along X-axis & along Y-axis must be equal to zero.
First of all taking the sum of the components along X-axis as shown in fig18.
We have
L2 cos2 + L3 cos3 L4 cos4 - L1=0

(1)

L2 cos3 = L4 cos4 + L1 L2 cos2

(2)

Squaring both sides

(L2cos 3)= (L4 cos4 + L1 L2 cos2)

(3)
17

Now taking the sum of the components along Y-axis, we have

L2 sin2+L3 sin3 sin4=0

(4)

L3sin 3=L4sin 4 - L2 sin2

(5)

Squaring both sides

(L3sin 3)= (L4sin 4 - L2 sin2)

(6)

Adding equ.3 & 6

We get
cos 4 cos2+sin4 sin2 = L2 - L3 + L4 + L1/2 L2L4 + (L1cos 4) / L2 (L1cos2) / L4

(7)

Let
L1 / L2 = k1, L1 / L3=k2, L2-L3+L4+L1/2L2L4 = k3

(8)

Cos4cos2 + sin4 sin2 = k1cos 4 - k2 cos2 + k3

Cos(2 - 4) = k1 cos4 - k2 cos2 + k3

(9)

This equ.9 is known as Freudenstein equation.

Following results are obtained from above exercise:
S = L2 + L1 -2 *L1*L2*cos2

(by cosine rule)

3 = arccos[(L3+S-L4)/(2*L3*S)]
= arctan [(L2sin2)/ (L1 L2cos2)]
Co-ordinates of point P;
Xp = L2cos2 + L5 cos ( + 3)

(10)

Yp = L2sin2 + L5 sin ( + 3)

(11)

18

From this method of dimensional synthesis following design is obtained for front fork:

C
D

AB=21cms
AD=6cms
CD=13.5cm
s

Fig.19

BC=15cms

Within the front fork design section appropriate setting for the front fork was
BE=15cms

discussed and now its implementation and mechanical detail design will be considered. These
conditions ensure effective operation of the mechanism:
Appropriate strength especially against lateral loads and impact forces caused by front
obstacles while designing with minimum clearance.
Providing enough space for a highly adjustable spring.

B. Design of parallel side bogies:

As mentioned earlier, two parallel four-link mechanisms have been mounted on each
side of the robot main body. Because of the essential role of these parts for adapting to
19

rugged routes and obstacles, it is imperative to have a good rotational capability in addition
to high stiffness. To overcome the rotation difficulties, two pairs of angular contact ball
bearing have been used for installation of each bogie. Clearance between linkages has been
reduced by proper mounting method.
Now similarly we applied the graphical method of synthesis for parallel side bogies
and get following results(fig.20), which are checked by Freudensteins equation (equation for
displacement).

AB=CD=20cms
AD=EF=BC=6cms
G

AG=BH=12cms

Fig.20

Since parallel bogies pass the obstacles easier than classical bogies (although both have
similarities in kinematics and in kinetics), they are used in this design (Figure).
20

Fig.21 the bogies.

C. Designing Robot Structure

21

Parts of the robot structure are the fork and parallel bogies that were considered
earlier. The other part connects back wheel with those three parts and is explained in this
section. Robot structure is similar to a box that connects the wheels, as its nodes, together
and transfers loads from them to ground. Selection from the various forms available was
based on these notes:
High strength and low weight that have lead to a holed structure.
The structure is made from plates, similar to a house structure. The batteries (one of the
densest and most sensitive parts of the robot), electrical wires, and other parts of robot are
located within these plates.
Finally, the backbone or structure of the middle of the robot is in complete
accordance with available operational space while considering motion of large wheels and
motors.
Despite the expense and large amount of machining time, required for reducing
structure weight, it is very effective in its purpose as robot structure and does its best in
increasing robot beautifully due to its harmony with other parts.

D. Selection Of Motors
22

Wheel Forces:

Fig.22 Free body diagrams of towed (a) and driven (b) wheels
A rigid wheel sinks on the soft terrain as in figure 22. sh distance is called sinkage height.
Geometry of wheel, material and ground stiffness affects sinkage height. Depending on the
geophysical properties of soil, different reaction and resistance forces act on wheel. The
towed wheel carries some part of body weight (Ww). The force P which tries to move the
wheel, acts from vehicle axis to center point of the wheel. These two forces are balanced by
vertical ground reaction force (Rv) and resistance force of soil R. In towed wheel, resistance
force has to be as small as possible. Motion resistance force is resultant of soil compaction
resistance, bulldozing resistance, rolling resistance, gravitational resistance and obstacle
resistance. On the driven wheel, additional traction force F acts to the contact point with the
Same direction of motion. Traction force tries to pull the chassis of robot.

Wheel Motion:
While driving on a flat surface, if there is no slipping, wheel center will move on a
line parallel to the surface with constant velocity. Although, obstacle geometries can be
different, most difficult geometry which be can climbed by wheel is stair type rectangular
obstacle.
23

Fig23. Wheel passing over same wheel diameter (a) and more than half wheel diameter (b)
height obstacle
In figure 23 (a), height of the obstacle is same or less than the half diameter of the wheel.
For this condition, the wheels instant center of rotation (IC1) is located at the contact point
of the obstacle and wheel. Trajectory of the wheel centers during motion generates a soft
curve, thus, horizontal motion of the wheel center does not break. Since in figure 23 (b),
height of the obstacle is more than the half diameter of wheel, this condition can be classified
as climbing. Climbing motion consist of two sub motions. First one is a vertical motion,
which causes a horizontal reaction force on wheel center. This vertical motions instant center
(IC2) is at infinity. Second one is a soft rotation similar to figure 23 (a) with instant center of
rotation (IC3) at the corner.
Wheel Slip and Rolling Resistance:
The intent is to formulate a holistic model of a robot to optimize the control of the
wheel motor torques to minimize wheel slip. Therefore it is helpful to review the governing
equations on wheel slip and rolling resistance. These equations are later incorporated into a
quasi-static model of a robot. Figure 24 shows the common forces acting on the wheel of a
mobile robot.

24

P : external wheel joint force

T : friction force

N : normal force

R : wheel's radius

o : static friction coefficient

M : motor torque

: dynamic friction coefficient

Figure 24. Acting forces on a wheel
The wheel is balanced if the friction force fulfils the equation:
Fstatic<= 0 * N

(12)

This case represents static friction.

If the static friction force can't balance the system, the wheel slips and the friction force
becomes:
Fdynamic = * N

(13)

In order to avoid wheel slip, the friction force which depends directly from the motor torque,
M, should satisfy the equation (12)
T=M / R = Ff <= 0 * N

(14)

The above equations suggest that there are two ways to reduce wheel slip. First, assume that
o is known and set:
T <= 0 * N

(15)

In fact, it is difficult to know o precisely because it depends on the kind of wheel-soil

interaction. During exploration, the kind of soil interacting with the wheels isn't known
which makes o impossible to pre-determine. Antilock break systems in automobiles sense
slip and then compensate T until slip is not sensed anymore. But in this case slip has already
occurred. Another way to avoid wheel slip is to first assume that the wheel does not slip. It is

25

then possible to calculate the forces T and N as a function of the torque and the result is
optimized in order to minimize the ratio T / N. Accounting for the previous assumption:
T / N = n *N / N= n

(16)

n is similar to a friction coefficient. In minimizing this ratio, then minimizing n we

optimize our chances that this coefficient is smaller than the real friction coefficient 0. If this
is the truth, there is no slip. Therefore, it is possible to minimize the ratio T / N without
knowing the real static friction coefficient. The second method is used here, because it is
more robust. However, determination of parameters T and N require a model of the mobile
robot. Rolling resistance is another important aspect to the quasi-static model, and is
therefore reviewed here. A static model balances the forces and moments on a system to
remain at rest or maintain a constant speed. Such a system is an ideal case and does not
include resistance to movement. The rolling resistance is introduced in order to complete the
model. This results in a quasi-static model. For a motorized wheel (fig.25),we have:

T, N : tangential/normal force

s : movement of the wheel

T, N : ground reaction forces

e/r : rolling resistance parameter

R : wheel's radius

Mr : friction torque
Fig.25 Rolling resistance on a motorized wheel

The friction torque, or rolling resistance torque, is opposed to the movement (Hertz-Foppl
model [8]):
Mr = R *T = 0.15 (R / l * E)(1/2) * N (3/2)

(17)

where l is the length of the rectangular contact patch and E is the reduced elasticity module
described by :
E = 2*E1*E2 / (E1+E2)

(18)
26

where E1 and E2 are the elasticity of the wheel and the ground. This representation expresses
the friction torque as dependant on the normal force applied on the wheel. A greater normal
force results in a greater resistance torque which follows intuition.
Equation 17 is not linear which can be difficult for analytical solutions. It is therefore
simplified as:
Mr = * 0.15 (R / l * E)(1/2) * N

(19)

where is a coefficient for reducing the simplification error. is identified after an iterative
process that estimates the simplification error.
Minimum Required Torque for Front Motor:
As discussed earlier in the design of the front fork, a horizontal force on the front
wheel will produce a positive torque that pulls up the mechanism on the first step
independent from the torque of the motor. But we have to use this torque to overcome the
spring resistance.
Assuming the weight of the bogie, its components such as batteries, switches, motors
and wheels etc equals to 6kg.
Reaction at each wheel=N=1kg=9.8N
Friction force at the wheel=*N=9.8
Now from above formula it is very well known that friction force depends upon ,
which depends on the wheel-soil interaction.
In such case we assume as 1, which is maximum possible value. Thus,
F friction = 9.8 N
Torque required for overcoming this friction force,
Tf=Ff*r

(20)

r = radius of the wheel=6cm.

T f = 9.8 * 0.06 N-m = 0.588 N-m 0.60
Torque produced by selected motor:
If we are using motors having N=50 rpm, V = 12V, I=0.5amp.
Power produced by motor = V * I = 6 watts.
Torque produced by the motor = (P * 60) / 2**N = 1.145 N-m,

(21)

This is greater than required torque.

So, selected motor is suitable according to requirements.
27

Design on AutoCAD
Design of device is made on AutoCAD according to dimensions obtained from analytical and
graphical method. Few images of robot design are given in following pages:

Fig.26 SE Isometric View

Fig.27 SE Isometric View of front fork

28

Fig.28 Top View(dimensions in mm)

Fig.29 NW Isometric View Of Parallel Side Bogies

29

CHAPTER-5 FABRICATION OF DEVICE

U-Cross Section Bars And Cylindrical Rods We have joined 2 U cross section2cm*2cm

having depth and thickness 2cm and 2mm respectively;1.2cm*1.2cm

having depth and thickness 1.2 cm and 2 mm respectively and cylindrical rods
having diameter 5mm.(fig.30)

.
Fig.30

Rotary Joints Figure shows the rotary joint mechanism used in the device.(fig.31)

Fig. 31

30

Steering Mechanism-We made an assembly for steering purpose as shown in figure

motor axle is fixed to a block having wheel and motor assembly. With such a steering
mechanism device can steered our device by an angle of 90 right hand side.(fig32)

.
Fig.32

Side Bogie To Rigid Structure Joints- side bogies are pivoted to main frame or rigid
structure.(fig 33)

Fig.33

Motor To Wheel And Bogie- (fig.34)

31

Fig.34

Batteries and adopter used- (fig.35)

NiCad (Nickel Cadmium) batteries are good for small to medium size range
robots. They have the highest current output, are more affordable than NiMH's, and
can be recharged within one or two hours. A NiCad, over many charges, can only
store less and less energy after each recharge.
Adopter used have ac input 100-250V ,50 / 60 Hz,0.3 amp,15 watt.
And output generated is 12v dc,2 amp.

Fig.35
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CHAPTER-6 SCOPE FOR FUTURE WORK

Robotics is the very fast evolving field of research and development. In today
scenario robots are used in various type of machining, assembling, painting and many other
processes in industries. Accuracy and degree of reliability on robots can be seen by knowing
that typical surgeries, operations etc have been doing successfully. Various countries are
sending there satellite to planets to know about the whether and surface conditions. These all
things have a very large contribution by robots. Robots developed for space missions are
using various sensors and data communication techniques. We are suggesting some
techniques and devices by which improvement is possible in working of ARDRO. These can
be listed as:
1. Design Improvement:
All the joints used in ARDRO are rotary. By using bearing at those joints we can
reduce the friction and finally transmission losses.
By using hub motors we can reduce the size of assembly comparatively. We have a
design concept for wheel assembly also (fig.36 ). Fig shows a concept of designing the
wheel in such a manner that motor can be easily fitted inside the inner periphery of it.

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Motor
Wheel having larger width
and less thickness

Fig 36.
2. Sensor based navigation:
The objective of the sensor based navigation of a mobile robot is to reach the target in
any unknown workspace, cluttered with obstacles of any shape, size and orientation. The
decision for the proper turn angle of the mobile robot is taken based on the sensory
information and the target location with respect to the current location of the mobile
robot.
3. Solar energy powering system:
Solar energy is a renewable energy resource. And we can use solar cells on ARDRO body
by which the powering system can be more efficient and independent form electric charging
and it will be able to work continuously.
4. Mine detection:
Currently, more than 100 million anti-personnel mines are under the ground all over the
world. These mines not only disturb the economic development of mine-buried nations, but
also injure or kill more than 2000 people a month. As a result, the removal of landmines has
become a global emergency. Under this ultimate environment, a roving robot may be an
effective and efficient means of detecting and removing mines while ensuring the safety of
local residents and people engaged in the removal work.
The mine detection sensor has a mixed sensor which means a metal detector and a radar
sensor. And, anti-personnel mines and anti-tank mines could be detected by the mixed sensor.

34

REFERENCES:
1. An Innovative Space Rover with Extended Climbing Abilities Institute of Robotic
Systems, EPFL.
2. "Rocky 7: A Next Generation Mars Rover Prototype."Journal of Advanced Robotics,
11(4), December 1997.
3. "Design and Control of an Innovative Micro-Rover", Proceedings of 5th ESA
Workshop on Advanced Space Technologies Robotics and Automation, The
Netherlands, 1998.
4. Small Marsokhod Configuration, International Conference on Robotics &
Automation, Nice, 1992
5. Theory of machines R.S. Khurmi
6. Theory of machines-P.L. Ballany
7. www.sharif.edu (Center of Excellence in Design, Robotics & Automation School of
Mechanical Engineering Sharif University of Technology, Tehran, Iran)
8. Kalker J.J., Three dimensional elastic bodies in rolling contact,
9. Apostolopoulos, D.S., "Analytical Configuration of Wheeled Robotic Locomotion"
10. "New Planetary Rovers For Long-Range Mars Science And Sample Return",
11. "Engineering Support on Rover Locomotion for Exo-Mars Rover Phase A- "ESROLA
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