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Mg z sin + Mg yl cos = N1 (yl+yr)

Dividing the equation by z

Mg sin + Mg yl/z cos = N1 (yl+yr)/z

From the figure above the yl/z = tan l and yr/z =tan r

Mg sin + Mg tan l cos = N1 (tan l + tan r)

Let l r and be very small then

Mg + Mg l = N1 (l + r)
Mg( + l ) = N1 (l +r)
Mg > N1
( + l ) < (l +r)
< r
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ROCKER BOGIE MECHANISM
Wheel Design
Velocity 8cm/s Velocity 10cm/s Velocity 12cm/s

RPM RPM RPM


Diameter Diameter 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 11.458
30 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 2.864
90 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 1.637
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ROCKER BOGIE MECHANISM
Calculation-1
1. Diameter of Wheel

100 = DN/60

DN=1909.86

D N Selected DN combination:
10 190.99 D = 70 mm
20 95.49 N = 27.28 rpm
30 63.66
40 47.75
50 38.2
60 31.83
70 27.28
80 23.87
90 21.22
100 19.1

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ROCKER BOGIE MECHANISM
2. Calculation of Wheel base

= 21.80

Now, width of the stairs is 400 mm.


So the maximum length of the rover
can be 400mm.

To deduce the wheel base,


Total length (radius of front wheel + radius of rear wheel)
=400-(35+35)
=330 mm

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ROCKER BOGIE MECHANISM
3. Length of Links

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ROCKER BOGIE MECHANISM
3. Length of Links

Total Wheel base = 330 mm


Let us assume, =45

In Triangle BNC, angle BNC = 90

Angle NBC = Angle NCB = 45

Therefore, NC = NB
NC2 + NB2 = BC2
BC2 = 2(NC)2 (1)
=2(165)2
=54450
Therefore, BC = 233.33mm

Rounding off to 230mm.


BC = 230mm

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ROCKER BOGIE MECHANISM
3. Length of Links (Contd)

Substituting to eqn (1) we get,


2302 = 2(NC) 2
NC = 162.63
Also, AN = NC = 162.63
In triangle AMN, angle AMN = 90
AM2 + MN2 = AN
2AM2 = AN2
2AM2 = 162.63 2
AM = 114.99
=115 mm
Now, due to symmetry,
AM = MN = 115 mm
BM = AB AM
=230 115
=115 mm
Therefore, BM = 115

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ROCKER BOGIE MECHANISM
4. Height Calculation:

Height2 = BC2 NC2

(2302 162.632)1/2 = 162.639 mm

Net Height = height + radius


= 162.639 + 35
= 197.639 mm

5. Track Width

Tw = 513.86 mm

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ROCKER BOGIE MECHANISM

Calculation - 2
= 25.016

Wheelbase = 300 2(35)


= 230mm

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ROCKER BOGIE MECHANISM

Calculation -2
Using same method used earlier dimension of the links is calculated for the stair
shown in previous slide.

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ROCKER BOGIE MECHANISM
Budget and Table of Requirements
S. No Item Qty Material Budget

1 Link 4 Acrylic 500

2 Shaft 1 SS 100

3 Nut Bolts /Washers 4/8 SS 50

4 Wheel 6 Plastic 35

5 Motor 6 Alloy 150

Electrical purchase

S. No Item Qty Budget

1 Transformer 1 150

2 Rectifier 1 20

3 Control switches 2 80

4 PCB 2 50

5 Wires and Cables 150


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ROCKER BOGIE MECHANISM

Dimensions
Wheel Thickness 40mm
Wheel Diameter 70 mm
Height 185mm
Wheel Base 360mm
Track Width 400mm
SSF 1.08
Bogie Dimensions 140mm
Rocker Dimensions260mm

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