MODELLING AND DYNAMIC ANALYSIS OF ROCKER-

BOGIE ROVER FOR SPACE EXPLORATION

A DISSERTATION
Submitted in partial fulfillment of the
requirements for the award of the degree
of
MASTER OF TECHNOLOGY
in
MECHANICAL ENGINEERING
(With Specialization in CAD/CAM 8 Robotics)

By

PUSHPENDRA KUMAR

Dace.
4 °
1.....

LROOR

DEPARTMENT OF MECHANICAL AND INDUSTRIAL ENGINEERING

INDIAN INSTITUTE OF TECHNOLOGY ROORKEE
ROORKEE-247 667 (INDIA)
JUNE, 2010
 INDIAN INSTITUTE OF TECHNOLOGY ROORKEE
ROORKEE, INDIA

CANDIDATE'S DECLARATION
I hereby declare that the work which is being presented in the dissertation entitled
"MODELLING AND DYNAMIC ANALYSIS OF ROCKER-BOGIE ROVER FOR
SPACE EXPLORATION" is presented on behalf of partial fulfillment for the award of
the degree of Master of Technology in Mechanical Engineering with specialization in
CAD/CAM & Robotics, submitted to the Department of Mechanical and Industrial
Engineering, Indian Institute of Technology, Roorkee under the supervision of Dr.
P.M. Pathak, Assistant Professor, Department of Mechanical and Industrial Engineering,
Indian Institute of Technology, Roorkee.
I have not submitted the record embodied in this report for the award of any other
degree or diploma.

Date: 30th June 2010 shpendra Kumar

Place: Roorkee (08538006)

CERTIFICATION
This is to certify that the above statement made by the candidate is correct to the best of
my knowledge and belief.

Dr. P.M. PATHAK

Assistant Professor
MIED
IIT Roorkee
 .~1CX. O NLTD ENT

I wish to express my deep sense of gratitude and sincere thanks to my guide

Dr.P.M.Pathak, Mechanical and Industrial Engineering Department, II?"
Roorkee, for their keen interest and constant encouragement to complete my
dissertation work. I wish to extend my sincere thanks for their excellent
guidance and suggestion for the successful completion of the present work.
I am also thankful to all my friends and colleagues for their continuous
support and hielp all through different stages of the present work.
I enjoyed the company of my friends BalakrisIin andd Patin in the lab. I
also had nice company of Mr. Xrishnan, Mr.. Omit, and Mr. 3Caresh in the Cab.
I acknowledge the blessings of my mother and for being a great source of
inspiration for me.

Roorkee Pushpendra Xumar
June 30, 2010
 CONTENT

Tilte Page

CANDIDATE'S DECLARATION AND CERTIFICATION i

ACKNOWLEDGEMENT ii
ABSTRACT v
LIST OF ABBRIVIATIONS vi
LIST OF FIGURES viii
LIST OF TABLES ix

Chapter 1: INTRODUCTION 1
1.1 Introduction to space robot 1
1.2 Types of space robotic systems 1
1.3 Motivation 1
1.4 Historical development 2
1.5 Types of exploration rovers based on shape 2
1.6 Critical factors for exploration rover 4
1.7 Main requirements of exploration rover 4
1.8 The rocker-bogie structure 5
1.9 Contribution to thesis 6
1.10 Organization of thesis 7

Chapter 2: LITERATURE SURVEY. 8

2.1 Existing literature on rocker-bogie modelling 8
2.2 Gap identification from literature 13

iii
Chapter 3: KINEMATIC MODELLING 14
3.1 The planar model 14
3.2 Frame Assignment 16
3.3 Kinematic Equations 17

Chapter 4: FORCE ANALYSIS 19

4.1 Planar force analysis 19
4.2 Equilibrium equations 20

Chapter 5: BOND GRAPH MODELLING 22

5.1 Assumptions 22
5.2 Word bond graph 22
5.3 Suspension system and body 23
5.4 Motor 25
5.5 Ground 25
5.6 The forces 26
5.7 The complete model 26

Chapter 6: SIMULATION AND RESULTS 28

6.1 Parameters 28
6.2 Rover on flat ground 29
6.3 Rover climbing up a slope 32
6.4 Rover climbing up a step 35
6.5 Rover encountering a ditch 38

Chapter 7: CONCLUSION AND FUTURE SCOPE 41

REFERENCES 42

iv
 ABSTRACT

We have entered a new phase of solar system exploration which has become increasingly
necessary in order to answer questions about the origin and history of solar system bodies
such as Mars, Moon, asteroids, and comets etc. It is very challenging task to land and
collect the data from an unknown body whose environment may be unexpected. Space
robotics has become the main area of research for many researcher and scientists all over
the world, various research are going on in space robotics in different fields as
mechanical, electrical, electronics, software etc.
In the present work the six wheeled rocker-bogie rover is described. The detailed
kinematic modeling and the quasi-static force analysis is presented for the rocker-bogie
rover. The dynamics of the system is presented based on the bond graph modeling and
the motor dynamics is also integrated to the system. Simulation of the rover is performed
and the performance of the rover is analyzed on different uneven surfaces.

v
 LIST OF ABBREVIATIONS

Nomenclature:

Notation Definition
Vr Tangential velocity of wheel `i'
Vx Linear velocity of wheel `i' in X direction
V;,, Linear velocity of wheel `i' in Y direction
r Radius of wheel
CoM Centre of mass of body
x, Position of point `i' in X direction
y, Position of point `i' in Y direction
T; Tangential force on wheel `i'
Ni Normal force on wheel `i'
FX External force in X direction
Fy External force in Y direction
M External moment
P,,, Qx, R.., Sx Component of vectors P,Q,R and S in X direction
Py, Qy, R1,, S y Component of vectors P,Q,R and S in Y direction

Greek symbols:

a, Wheel `i' and ground contact angle

p Orientation of rocker
,6 Orientation of bogie
W I Angular velocity of wheel `i'
(p Pitching of body
91, 02, 93 Fixed angles of rover structure

vi
Bond graph symbols:

0 Common effort junction

Common flow junction
I element or Inertial elemwnt
C C element or Compliant element
R R element or Dissipative element
SE Source of effort
SF Source of flow
TF Transformer
GY Gyrator

vii
 LIST OF FIGURES

Figure Caption Page

1.1 Types of exploration rovers 3

1.2 Rocker-Bogie rover 6
3.1 Sojourner rover and schematic view of rocker-bogie rover 14
3.2 Planar model of rover 15
3.3 Velocities description 15
3.4 Frame assignment 16
4.1 Rover force analysis 19
5.1 Word bond graph 23
5.2 Detailed bond graph of body and suspension system 24
5.3 Bond graph model of motor 25
5.4 Bond graph model of ground 25
5.5 Integrated bond graph model 27
6.1 Rover parameters 28
6.2 Rover's trajectory on flat ground 29
6.3 Velocity of rover on flat ground 30
6.4 Animation of rover on flat ground 31
6.5 Rover's trajectory on 30-degree slope 32
6.6 Velocity of rover on 30-degree slope 33
6.7 Animation of rover climbing 30-degree slope 34
6.8 Rover's trajectory on a step 35
6.9 Velocity of rover on a step 36
6.10 Animation of rover climbing up a step 37
6.11 Rover's trajectory on a ditch 38
6.12 Velocity of rover on a ditch 39
6.13 Animation of rover on a ditch 40

viii
 LIST OF TABLES

Table Caption Page

6.1 Parameters used in simulation study 28

ix
 Chapter 1
INTRODUCTION

1.1 Introduction to Space Robot

Robot is usually an electro-mechanical machine which is guided by computer or
electronic programming, and is thus able to do tasks on its own.
Space Robots are the robots which are used for various space activities such as
assembly, inspection, maintenance and planetary surface operations like mobility and
exploration as surrogates for human explorers.

1.2 Types of Space Robotic systems

There are mainly two fields in space robotics:
1)Orbital robotic systems
2) Surface robotic systems
The Orbital robotic systems are used in orbital activities such as manipulation,
assembling and servicing in orbit as assistants to astronauts while surface robotic systems
are used in planetary operations like mobility and exploration.
In our study work we are going to deal with surface robotic systems for planetary
exploration and sample collection from the planet.

1.3 Motivation
Sample collection from different planets is becoming increasingly necessary in order to
answer questions about the origin and history of solar system bodies such as Mars, Moon,
asteroids, and comets etc. It is very challenging task to land and collect the sample from
an unknown body whose environment may be unexpected.
In the space we cannot predict about the environment; there are various key
factors (Time delay, Gravity, Terrain, Temperature, Vacuum, Pressure, Radiation etc.)

1
which have to be considered while designing a space robot. In exploration robots (rovers)
the ability of locomotion is very important factor to travel on a remote planet surface,
because there may be unexpected terrain and may be rocky or sandy. In the deep space
there is a big problem of time delay between robot and the operator so there is
requirement of autonomous robotic system. The problem is of unexpected weather, which
may be storms and high temperature variation whole the day.

1.4 Historical Development

The research on surface exploration rovers began in the mid-1960s, with an initiative
(that never flew) for an unmanned rover for the Surveyor lunar landers and a manned
rover (Moon buggy) for the human landers in the United States. In the same period,
research and development began for a teleoperated rover named Lunokhod in the Soviet
Union. Both the Apollo manned rover and the .Lunokhod unmanned rover were
successfully demonstrated in the early 1970s on the Moon. In the 1990s the exploration
target had expanded to Mars and in 1997, the Mars Pathfinder mission successfully
deployed a micro rover named Sojourner that safely traversed the rocky field adjacent to
the landing site by autonomously avoiding obstacles. Following on from this success,
today autonomous robotic vehicles are considered indispensable technology for planetary
exploration. The twin Mars exploration rovers, Spirit and Opportunity, were launched in
2003 and have had remarkable success in terms of remaining operational in the harsh
environment of Mars for over four years. In the future the Mars Science Laboratory
(MSL) known as Curiosity is a NASA rover scheduled to be launched between October
and December 2011 and perform the first-ever precision landing on Mars, and India's
Chandrayaan-2 mission to land a motorized rover on the Moon likely in 2012, as a part
of its second Chandrayaan mission. The wheeled rover will move on the lunar surface, to
pick up soil or rock samples for onsite chemical analysis.

1.5 Types of Exploration Rover based on shape

These can be broadly classified into:
1) Mechanisms which utilize limitless rotational movement; (wheeled rover
Fig. 1.1a)

2
2) Mechanisms which utilize leg motion; (legged robot Fig. l.lb)

4) Mechanisms which utilize rotation and leg motion; (wheeled leg robot
Fig. 1.1c)
3) Mechanisms which utilize articulated body motion.(snake type creeping
propulsion motion Fig. 1.1 d)

Fig. l.la. Sojourner Fig. 1.1b. Dante-II

Fig. 1.1 c. Athlete Fig. 1.1 d. ACM-III

Fig. 1.1. Types of exploration rovers.

3
 Many planetary exploration rovers have been developed since 1960s. According
to the features of the mobile mechanism of robots, planetary exploration rovers have
some types: wheeled, legged and tracked, etc. Wheeled mobile mechanisms have some
excellent features, such as high speed on a relatively flat terrain and easily control, so
many researchers trended to design their exploration rovers with wheeled structure.
Currently, wheeled structure planetary rovers have 4-wheeled, 6-wheeled and 8-wheeled,
etc. Among them, the 6-wheel mobile system with rocker bogie mechanism has superior
adaptability and obstacle climbing capability, which had been applied in Rocky series
and Sojourner Mars Rover.

1.6 Critical factors for Exploration Rover:

Mobility — For the remote planetary exploration the ability to travel is the most
important for the rover as these surfaces are natural and rough, and thus challenging to
traverse. Sensing and perception, traction mechanics, and vehicle dynamics, control, and
navigation are all mobile robotics technologies that must be demonstrated in a natural
untouched environment.
Teleoperation and autonomy — In deep space there is a significant time delay
between a robotic system at a work site and a human operator in an operation room on
the Earth. Telerobotics technology is therefore an indispensable ingredient in space
robotics, and the introduction of autonomy is a reasonable consequence.
Environment— Issues such as extremely high or low temperatures, high vacuum
or high pressure, corrosive atmospheres, ionizing radiation, and very fine dust. That
environment affects natural and rough terrain that affects surface mobility, there are a
number of issues related to extreme space environments that are challenging and must be
solved in order to enable practical engineering applications.

1.7 Main requirements of the Exploration Rover:

SUSPENSION SYSTEM:
This is main consideration while designing an exploration rover as it has to be
traversed on the rough terrain. The suspension system should be such that it can cope up
with every situation as there may be various craters, boulders, ditch etc. So it should be

4
stable while encounter with an obstacle and should - not stuck or turn. The suspension
system should be capable to traverse on rocky and soft terrain.
DRIVE SYSTEM:

The motors for driving the wheels should be of sufficient capacity and reliable so
that can withstand in space environment. There should be gear mechanism for speed
control of different wheels. The each wheel requires brake and disengagement
mechanism and proper steering mechanism should also be considered while designing the
exploration rover.
POWER SYSTEM:

The rover requires the power to operate its different subsystems so there should
be sufficient arrangement for power in the rover.
COMMUNICATION:

There is requirement of communication between the rover and the operator on the
earth so that the control commands can be received from the earth and the exploration
data can be send to earth in least time delay.
NAVIGATION AND CONTROL:

There must be an excellent software and hardware architecture and cameras on

the rover for the navigation of rover and control of different subsystems of the rover as
the control commands received from the earth
SCIENTIFIC INSTRUMENTS:

The rover is required to carry various scientific instruments with it for doing some
onsite tests.

1.8 The Rocker-Bogie structure:

The Rocker- Bogie system is the suspension arrangement used in the Mars rovers for
both the Mars Pathfinder and Mars Exploration missions. It is currently NASA's favored
design.
A 6-wheeled rover with rocker bogie structure.is studied in this work. This has six
independently driven wheels mounted on an articulated passive suspension system. The
four corner wheels are steerable. With this design, while traversing rugged terrain, each

5
wheel trends to contact with the ground. The principle of the 6-wheel mobile mechanism
of planetary rover with rocker-bogie structure is shown in Fig. 1.2.

Fig. 1.2. Rocker-Bogie rover

Six wheels independently driven by the motors are mounted on an articulated

frame. The frame has two rocker arms connected to the rover body. Each rocker has a
rear wheel connected to one end and a bogie connected to the other end. The bogie is
connected to the rocker with a free pivoting joint and at each end of the bogie there is a
drive wheel, the rockers are connected to the rover body with the differential joint.

1.9 Contribution to Thesis

The issues that are presented in this thesis are, (i) Kinematic modelling and quasi-static
force analysis of the rocker-bogie rover. (ii) Dynamic modelling of the rover using bond
graph technique. (iii) Verification of model with simulation results and analysis of rover's
performance on various uneven terrains.

R
1.10 Organization of the thesis:
The chapters of this dissertation are arranged as follow. Chapter 2 presents the literature
survey for the space exploration rovers. The work done by the researchers in the field of
space exploration rovers are briefly described. In chapter 3 detailed kinematic modeling
for the rocker-bogie rover is presented. Chapter 4 describes the quasi-static force analysis
for the rover. In Chapter 5 the bond graph model of the rocker-bogie rover is presented.
Simulation and results for the rover are presented in chapter 6. The conclusion of the
thesis and. future scope is described in chapter 7.

7
 Chapter 2
LITERATURE SURVEY

2.1 Existing literature on rocker-bogie modelling:

In year 1995 Shigeo Hirose et al. [1] outlined the fundamental considerations for
a planetary rover., They compared the wheeled, legged and articulated body shapes, and it
was found that the wheel type is currently the optimum for a planetary rover. Next they
studied specific methods for configuring a planetary rover with one, two, three and four
wheels.
In year 1996 Yangsheng Xu et al. [2] proposed the concept of mobile
manipulator by the cooperation of a wheeled rover and a detachable manipulator called
the Dual- Use Mobile Detachable Manipulator, or (DM)2 , for early construction and
maintenance tasks in lunar stations. This system provides better flexibility of
manipulation and exploration tasks such as collecting soil samples, surveying the lunar
surface.
Pedersen et al. [3] at NASA have done a survey on space robotics and determine
the state-of-the-art and future scenario in space robotics. They described the various
issues like human-robot collaboration, planetary surface access, and surface investigation
in the field of space robotics.
Yasutaka et al. [4] at Carnegie Mellon University discussed the configuration of
robotic locomotion for the moon, and describe analysis and experimental results obtained
through testing of a physical prototype. To achieve substantial climbing capability and
mitigate body excursions they selected a six-wheeled configuration that utilizes pivot arm
linkages for body suspension.
Miller and Lee [5] at NASA described a method of driving a rocker-bogie vehicle
that can effectively step over most obstacles rather than impacting and climbing over
them. They suggested some mechanical changes to gather the maximum benefit and to
greatly increase the effective operational speed of future rovers. Most of the benefits of

8
this method can be achieved without any mechanical modification to existing designs but
a change in control strategy.
In year 2002 Yoshida and Hamano [6] investigated kinetic behavior of a planetary
rover with attention to tire-soil traction mechanics and articulated body dynamics, and
thereby study the control when the rover travels over natural rough terrain. They carried
out experiments with a rover test bed using the tire slip ratio as a state variable to observe
the physical phenomena of soils and to model the traction mechanics.
In year 2004 Lamon et al. [7] described quasi-static modeling considering the
system constraints: maximal and minimal torques,, positive normal forces of a six-
wheeled robot with a passive suspension mechanism together with a method for selecting
the optimal torques. The method is used to limit wheel slip and to improve climbing
capabilities.
In year 2005 Tarokh and Dermott [8] described a general approach to the
kinematics modeling and analyses of articulated rovers traversing uneven terrain for 6-
DOF motion. Differential kinematics is derived for the individual wheel motions in
contact with the terrain and then combined to form the composite equation for the rover
motion. Three types of kinematics navigation, actuation, and slip kinematics are
identified, and the equations and application of each are discussed.
In year 2005 Mann and Shiller [9] described the stability considering both static
equilibrium and dynamic effects of a Rocker Bogie vehicle that accounts for the tendency
to slide, tipover, or lose contact with the ground. The measure of stability is computed by
solving for the range of acceptable velocities and accelerations that satisfy a set of
dynamic constraints and the maximum acceptable velocity serves as a dynamic stability
measure, whereas the maximum acceptable acceleration at zero velocity serves as a static
stability measure.
In year 2005 Lindemann [ 10] described the Mars exploration rovers named Spirit
and Opportunity which were landed on the mars surface in January 2004. In order to
assess the mobility characteristics of the rovers in the Mars environment, an engineering
model vehicle was tested before the mission launches in a representative environment of
slopes, rock obstacles, and soft soil. In addition, to gain better insight into the rovers'
capabilities, a dynamic model of the rovers was created in the software package

GJ
ADAMS. The rover model was then used to simulate many of the test cases, which
provided a means for model correction and correlation.
In year 2006 Randel et al. [11] described the Mars Exploration Rover (MER)
Project launched in mid-2000 to land on the Mars, and discussed the mission
requirements, design architecture, mechanical mobility, hardware design, development
and testing.
In year 2006 Thianwiboon and Sangveraphunsiri [12] proposed a method for
kinematics modeling of a six-wheel Rocker Bogie mobile robot. The forward kinematics
is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact
angle estimation. The inverse kinematics is to obtain the wheel velocities and steering
angles from the desired forward velocity and turning rate of the robot. By comparing
information from onboard sensors and wheel velocities traction control is also developed
to improve traction to minimize wheel slip. Simulation is done with a rover has rocker
bogie in two conditions of surfaces including climbing slope and travel over a ditch.
In year 2006 Xinyi Yu et al. [13] analyzed the motion of articulated lunar rover
with six cylinder-conical wheels and force acting to wheels, according to the mechanical
configuration of rover, operations pattern of wheel, and principle of speed matching of
wheels they presented a control algorithm which can fit various uneven terrains and
merge it into the whole locomotion control system.
In year 2007 Deng et al. [14] discussed the optimum control model of the motion,
they done motion control of a lunar rover, the power optimum control was carried out
for a lunar rover prototype with six cylinder-conical wheels in wheel walking motion
mode in order to minimize the power consumption. The kinematics model of wheel-
walking motion was built up and the simulation model was constituted based on
Simulink.
In year 2007 Bai-chao et. al. [15] analyzed the structure of the new suspension
and the kinematics of the levers, and to know the distortion capability of the suspension,
relational equations of the suspension levers are established. In order to test the capability
of suspension, they design a prototype rover with the new suspension and take a test of
climbing obstacles, and the prototype rover with new type of suspension had excellent
capability to climb .up obstacles with keeping cab smooth in the results.

10
 In year 2007 Kanfeng et . al. [ 16] analyzed the external disturbances cause the
lunar rover's unexpected move because rover may run on the uneven surface of the
moon. They investigate the effects of external disturbance. The six wheeled- rocker-bogie
lunar rover is considered as a six-wheeled vehicle with four steering wheels and the
steering dynamic equation is built based on automotive theory. External disturbance is
expressed as a force acted on the mass center of the rover and the Laplace transform is
introduced. The research results show that the travel changes of the rovers will be
different distinctly when the rovers with different steering characteristics are disturbed
simultaneously.
In year 2007 Thueer et al. [17] presented the performance optimization tool
(POT). The POT enables the comparison and. optimization of a rover chassis in a quick
and efficient way. The tool is based on a static approach including optimization of the
wheel torques in order to maximize traction. Tests with real hardware were performed to
validate the POT. Two different rovers, CRAB and RCL-E, were assessed in simulation
and hardware with respect to specific, well defined metrics. In simulation, their
performances were compared to the rocker-bogie-type rover MER.
In year 2007 Thueer et al. [18] Conducted a study of locomotion performance of
different suspension types in order to find the rover that matches best any given mission
requirements. A number of metrics were defined which precisely specify what qualifies
as good or bad performance. These results were used to characterize the performance of
each rover and put it in relation to the weighted mission requirements. This study has
shown that a four wheeled rover can be a valuable alternative to the rocker bogie but only
in very specific missions.
In 2008 Thueer and Siegwart [19] analyzed three different rovers from a
kinematic point of view. The optimal velocities at the actual position were calculated for
all wheels based on a kinematic model and used for characterization of the suspension of
the different rovers. Simulation results show significant differences between the rovers
and thus, the utility of the chosen metric. It is found that by integrating kinematics in a
model-based velocity controller a substantial reduction of slip can be achieved.

11
 In year 2008 Yuan et al. [20] presented a wheel-ground contact angle and slip
estimation scheme for skid-steered lunar rover by combining drive and guidance system
to form a closed control system, in which an observer will work out the slip values and
wheel-terrain contact angle by using the measured datum of passed route of lunar rover's
mass center. Simulation and experiment results show that the terrain and control
parameters algorithms can accurately and efficiently be identified for loose sand.
In year 2008 Younse et al. [21] at the Jet Propulsion Laboratory used the Mars
technology rover Sample Return Rover 2000 (SRR2K) for their experiment. They
presented the Mars sample return missions technology to robotically acquire and cache
multiple samples for delivery back to Earth. To prevent cross-contamination, individual
detachable scoops and caching boxes were designed for use with a rover. They used a
robotic arm on the rover to open and close the cache boxes. A clamping mechanism
designed for the end effecter of the robotic arm attached and detached individual scoops
and performed the scooping for sample collection.
In year 2008 Pathak et al. [22] presented the bond graph model of an autonomous
vehicle, called RobuCar, with four independently driven wheels and two independently
adjustable steering angles. The system bond graph is constructed for generating the
Analytical Redundancy Relations (ARRs) which are evaluated with actual measurements
to generate residuals and to perform structural fault isolation. The system is reconfigured
to achieve given control objectives.
In year 2008 Suojun et al. [23] build the mobility performance indexes .based on
work conditions by summarizing the lunar surface terrain characteristics. The
performance of overturning stability, load equalization of the wheels and trafficability are
analyzed and established an optimization mathematical model of suspension parameters
of rocker-bogie rover.
In 2009 Yongming et al. [24] presented a model based on force analysis of the
differential joints and force analysis between the wheels and the ground; they established
the quasi-static mathematical model of the 6-wheel mobile system of planetary
exploration rover with rocker-bogie structure. Using the method of finding the wheels
friction force solution space feasible region, obstacle-climbing capability of the mobile

12
mechanism was analyzed by considering the constraint conditions. The simulation is
done by giving the same obstacle heights and contact angles of wheel-ground.
Iagnemma and Dubowsky [25] at Massachusetts Institute of Technology
addressed a rough-terrain control (RTC) methodology that exploits the actuator
redundancy found in multi-wheeled mobile robot systems to improve ground traction and
reduce power consumption. A key element of the method is to be able to estimate the
wheel ground contact angles and an optimization criterion based on the local terrain
profile is used. Kalman filter method is presented for estimating these angles using
simple onboard sensors.
Hacot [26] at Massachusetts Institute of Technology presented the models of
mechanics and method for solving the inverse kinematics of the rocker-bogie rover. The
quasi-static force analysis was described for the rover. The simulation of the rover was
done and compared with experimental results.

2.2 Gap identification from literature:

The existing literature shows that researchers have attempted kinematic analysis of rocker
bogie rover and studied the behavior of the rover. This has been done with the
assumption that rover moves with a very slow speed.
This work presents a dynamic model of rocker bogie rover using bond graph
modeling and the force analysis has been performed. The model has been tested for
various terrains.

13
 Chapter 3
KINEMATIC MODELLING

In this section the rover kinematic modeling is explained. The rover consists of several
rigid elements connected through joints. The rover is capable of locomotion over uneven
terrain by rolling of the wheels and adjusting its joints, and the only contact with the
terrain is at the wheel surfaces. In our analysis, each wheel is assumed to be represented
by a rigid disc with a single point of contact with the terrain surface.
To establish the rover model rigid body kinematics is used and the model is
simplified such that it has identical behavior as the real rovers Fig. 3.1.

3.1 The Planar model:

The planar model of the rover is shown in the Fig. 3.2. A, B and C are the points on the
centre of wheel axles and the point K represents the free pivot joint between rocker and
bogie. Point D is the differential joint between rocker and body and G point is centre of
mass (CoM) of the body. The system is defined by the vectors of constant lengths AK,
BK, CK, KD and DG.

14
 P

®~' K

\
cY
C 6 p

a x

Fig. 3.2. Planar model of rover

The frame {O} is the reference frame. The orientation of rocker (p) and wheel-
ground contact angles (aA, aB and ac) are with respect to the reference frame and the
orientation of bogie (/3) is relative to the rocker.

Fig. 3.3. Velocities description

The wheels at points A (front), B(middle), and C(rear) are actuated by the motors.
If wA, wB, and we are the angular velocities of the front, middle and rear wheel (Fig. 3.3),
then the linear velocities of the centre of wheels are given by the following relations.
VAt r. &)A (3.1)
1Bt r. W B . (3.2)
VCt = r. coc (3.3)
Where r is the radius of wheel.

15


The positive X and Y directions of the reference frame {O} is shown in the Fig.
3.3. The components of linear velocities in X and Y directions are given below.

VAX = VAt• COS(aA) — VAn. Sln(aA) (3.4)

VAy = VAt. sin(CrA) + VAn. COS(aA) (3.5)

VBx = VBt• COS(CrB) — VBn• sin(aB ) (3.6)

vBy = vBt. sin(aB) + VB,,. cos(aB) (3.7)

Vcx = 'pct. COS(a c ) — vCn. sin(ac ) (3.8)

vcy = vct. sin(ac ) + vcn. cos(ac ) (3.9)

3.2 Frame assignment:

For further analysis first of all we assign frames at different points as shown in Fig. 3.4.
Two frames are fixed on rocker at points C and D. Three frames are fixed on bogie at
points A, B and K. One frame is fixed to the body at point G (CoM).

Fig. 3.4. Frame assignment



3.3 Kinematic Equations:

The angle `(p' represents the pitching motion of the body and the angles 01, 02 and 03 are
the fixed angles of the rover structure. Now we calculate the location of point K with
respect to A, B and C in reference frame {O}.

-The location of point K with respect to A is:

XK = xA + AK. (— cos(02 — p — /3)) (3.10)

YK=YA +AK.sin(02 —p—/3) (3.11)

-The location of point K with respect to B is:

xK = XB + BK. cos(02 + p + /3) (3.12)
YK = YB + BK. sin(02 +p +/3) (3.13)

-The location of point K with respect to C is:

XK = xc + CK. cos(01 + p) (3.14)

YK = Yc + CK. sin(01 + p) (3.15)

By differentiating above equations we can find the velocity relationships as follow:

17 KX = VAX — ( P + f4) x AK. sin(02 — p — (3) (3.16)

VKy=VAy- (1i +4)x AK. cos(02 —p—(3) (3.17)

VKX = VBX — (p + /4) x BK. sin(02 + p + /3) (3.18)

VKy -VBy+(p +F3) xBK.cos(02 +p+(3) (3.19)

VKx = vcx — (P) x CK.sin(01 + p) (3.20)

VKY = V cy + (P) x CK. cos(01 + p) (3.21)

17
Also the location of point D and G are given by:
XD = xK — KD. sin(03 + p) (3.22)
YD = Yx + KD. cos(03 + p) (3.23)

XG = XD + DG. sin(cp) (3.24)

Yc =YD — DG. cos(cp) (3.25)

By differentiating above expressions:

VDX = VKX — (P) x KD. cos(0 3 + p) (3.26)

VDY = Vxy — (P) X KD. sin(03 + p) (3.27)

VGX = VDx + (~P) x DG. cos(co) (3.28)

rosy = V Dy + (cp) x DG. sin(cp) (3.29)

In this chapter we have developed the kinematic model of the rover considering
the planar model.

18
 Chapter 4
FORCE ANALYSIS

This section presents the planar quasi-static force analysis of the rocker-bogie rover. The
rover travels at slow speed, therefore dynamic effects are small and a quasi-static model
adequately describes its behavior.

4.1 Planar force analysis:

The different forces which act on the system are shown in Fig. 4.1. The forces T; and Ni
(i=A, B and C) are the tangential and normal forces respectively, which act at the wheel-
ground contact point. The tangential forces act tangential to the ground, while the normal
forces act normal to the ground. The forces Fx, Fy and M are the external forces which act
on the CoM of the body. Fx and Fy are the external forces in X and Y direction
respectively, while M is the external moment applied.

Fig. 4.1. Rover force analysis

19
4.2 Equilibrium equations:
There are four equilibrium equations for the system, two equilibrium equations for the
forces in X and Y directions, and two moment equations on the rocker-bogie pivot joint.
The moment equation must be zero at that point for both the rocker and the bogie.
The positions of the wheel contact points with respect to the rocker-bogie joint are
required to perform.the force analysis. The vectors P, Q and R connect the wheel-ground
contact points to the rocker-bogie joint and the vector S connects the rocker-body joint to
the rocker-bogie joint. The components of these vectors along X and Y are written below.

PX = AK. cos(02 ) + r. sin(aA ) (4.1)

Py = AK. sin(62 ) + r. cos(aA ) (4.2)

QX = BK. cos(92 ) — r. sin(aB ) (4.3)

Q y = BK. sin(02 ) + r. cos(aB ) (4.4)

RX = CK. cos(01 ) — r. sin(ac ) (4.5)

Ry = CK. sin(01 ) + r. cos(ac ) (4.6)

Sx = DK. sin(93) (4.7)

Sy = DK. cos(03 ) (4.8)

The force equilibrium equations in X and Y directions are given below.

TA. cos(aA ) + TB. cos(aB ) + Tc. cos(ac ) — NA. sin(aA ) — NB. sin(aB ) — Nc. sin(ac )

+Fz =0 (4.9)

TA. sin(aA ) + Te . sin(ae ) + Tc. si 7

(a ) + NB. cos(aB ) + Nc. cos(ac )
uAL Li
—Fy = 0
e~9
(4.10)
.......
........

R`~~~
20
The moment equilibrium equation of bogie about point K is:

TA. cos(aA ). Py + TA . sin(aA ). P + NA . cos(aA ). Px — NA.sin(aA ). Py + TB. cos(aB ). Qy

—TB. sin(aB). QX —NB. cos(aB). QX — N B. sin(aB ). Qy = 0 (4.11)

The moment equilibrium equation of rocker about point K is:

T. cos(ac ). Ry — T. sin(ac ). Rx — N. cos(ac). Rx — N. sin(ac ). Ry + M

—Fx.Sy +Fy.Sx =0 (4.12)

In this chapter the quasi-static force analysis is done for the planar model of the
rocker-bogie rover.

21
 Chapter 5
BOND GRAPH MODELLING

In the previous chapters we have discussed the kinematics and force analysis for the
rocker-bogie rover. The bond graph model of the rover is constructed directly from
kinematical relationships. The dynamics is automatically represented correctly since the
bond graph junction structure is power conservative.

5.1 Assumptions:
1. Wheels, Rocker and Bogie are assumed to be massless as compared to the body.
2. The mass of the body is assumed to be acted on CoM at point K
3. Each wheel is independently driven by the motors.

5.2 Word Bond Graph:

In Fig. 5.1 the word bond graph is shown for the system. The voltage supply is given as
input to the motors and the motor output is applied to the wheels, the ground also
influences the wheel motion. The effect of wheel motion is transferred to the body mass
via suspension system and the weight of the body acts on the body centre of mass.

22
 Ground
V4

r
Motor A Wheel
eel A
Fcl Body
Bod Weight
Supply A
Fn

Suspension Body Mass

Wheel B VH
Supply B v8 Motor
;6 rA
B w.5 System
f ~9 Vcs f

r,
Ground
<<z
Wheel C
Supply C Vii. Motor C

Fc v;

Ground

Fig. 5.1. Word bond graph

5.3 Suspension system and Body:

Refer Fig. 5.2, twenty one 1 —junctions are in the model corresponds to the velocity of
different points. Three 1 —junctions ('At, lBt and lit) for tangential velocity, three 1 —
junctions (IA,,, IBn and lc„) for normal velocity, six 1 junctions (lAx,1BX,1Cx,1Dx, Band
1Gx) for velocity in X direction, six 1 —junctions (lAy,'By, iCy, IDy, 1Ky and lay) for velocity
in Y direction, three 1 junctions (I p, Ip and 19) for angular velocity of rocker, bogie and
body. The mass and the inertia of the body are modeled with I elements at CoM of the
body.

23
 normal flow -. tangential flow

n j

A N

A A A
°

~G W

~ n

C) Yo or CD n
N N

V
A
N ~
O. W
N O~
N
N N N
O ~ N
° ~
W 1~
N N
.vr m
N ~ N
~ V
__ __
V
m ~
A

Fig. 5.2. Detailed bond graph of body and suspension system

FM


5.4 Motor:
The three wheels are independently driven by the motors. In Fig. 5.3 the angular
velocities of three motors are represented by three 1 -junctions (1,,,A, LB and 1,,,c). The
angular velocity is multiplied by radius of wheel to get the tangential velocity represented
by junctions (lAt,'Bt and lct).

R I

2f 5 r
to the
p. tangential
SE 1 1 1 Vie.- G Y —rl 1 I— ~—r~ T Fj8
velocity
junction

Fig. 5.3. Bond graph model of motor

5.5 Ground:
The ground is responsible for the flow in normal direction of the rover represented by
junctions (lAn, lgn and lcn). We have modeled the ground as spring damper system
which is modeled with C and R elements in bond graph as shown in Fig. 5.4.

to noraml
velocity
junction

3~

R` 1 C

Fig. 5.4. Bond graph model of ground

25
5.6 The Forces:
The tangential force (T) and normal force (N) come from the motor and the ground
respectively. The external forces (F,, Fy and M) are modeled with `SE' elements in bond
graph.

5.7 The Complete model:

After integrating the all above models and incorporating the forces, the combined bond
graph model for the system is shown in Fig. 5.5.

26


r ~—s c>-pi r I•r ~,

C) o ° n

A N
N V
n •H o ~~ d"• h=er n
a N
n N
W

N V N

/ 1 q
° ./—~3i

l
W r N
y N
~ V N
m y
~ n N

m a

Fig. 5.5. Integrated bond graph model

 Chapter 6
SIMULATION AND RESULTS

6.1 Parameters:
The parameters for the model are depicted in Fig. 6.1 and Table 1 lists the respective
values for the mars exploration rover (MER). Note that the exact dimensions of the MER
are not available in literature; therefore the dimensions may slightly differ.

Fig. 6.1. Rover parameters

Table No. 6.1. Parameters used in simulation study

S.N. Parameter Value
1. Main body mass 17.5 kg
2. Main body position (x) 0.344 m
(Yb) 0.229 m
3. Body's CoM position (x) 0.344 m
(ye) 0.22 m
4. Wheel diameter (d) 0.2 m
5. Wheel distance (sl) 0.389 m
(S2) 0.259 m

r:
6.2 Rover on flat ground:
The system is verified in Symbol Shakti software. In Fig. 6.2, the trajectory of the wheels
and body CoM is shown. The rover moves on the flat ground when motor is actuated.

0.010 ..............;..............;..............;..............;...............;... .......;

0.005 -------------'--°-° .....................i..............I.............._..--°----

E E
m
C 0.000 0 0.000 ......................................... ...... ........ .....
C
0 0

0
C- .
10
0
-0.005 -0.005 .............. .......................................................................

-0.010
0.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0
Position of Bx (m)

(a) (b)

0.25 .............:........---° ;--°---................................. .........

0.24 ............ i ° ° ...i---°---......i ..............:...........°_i°...........
023 ..... i.°--°-----° ............................I.............................;

0
0.22 .........1....i ..............:.....................................................
cO i i
0.21 .............................................................
0
0
0.20
0.19
0.18
0.0 0.5 1.0 1.5 2.0 2.5 3.0
Position of Gx (m)

(c) (d)
Fig. 6.2. Rover's trajectory on flat ground. (a) Front -wheel trajectory (b) Middle wheel
trajectory (c) Rear wheel trajectory (d) Body CoM trajectory

29
In Fig. 6.3, the velocity of rover is plotted with respect to time. When motors are
actuated, the rover moves with a constant speed of 16 cm/s. The animation frame is
shown in Fig. 6.4.

0.18 .

E 0.12

0.08.

0.06.

0.04.

0.02.

0.00
0 2 4 6 8 10 12 14
Time (s)

Fig. 6.3. Velocity of rover on flat ground.

30
Fig. 6.4. Animation of rover on flat ground.

31


6.3 Rover climbing up a slope:

In Fig. 6.5, the rover is moving over a 30-degree slope. The trajectory of the wheels and
body CoM is shown in the figure.

0.16 --------------------------------------------_..................... _..----•-........... 0.1s..

0.14 = ......i ---~--- ...i----•-.... . 0.14 • ...................................?........?........?...............
0.12 .-°--- '.........E ---------- -..----....i........°a-°-°- --° 0.12 ..................?.........?.................. i.............. ....
0.10 ' E0.10 ..................i .......-....... ......................
a ............................ ............ m0.08 .........i.........i..-......i ...................:..........................i....-....
0
-°°- - ................ :-°-°..... 0 0.06 .........j ... ...........?........?........-?°°-.......... --.....y.........
w
..... ..... ..... a 0.04 .........:.........:.........:........:.........{................. ...... ....
.. ........................ i.......... 0.02 ----•---- •------- + +--- ---- --------- -------- -------------- ----
....................' ........................................
0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0 2.2 02 0.4 0.68101 1 1.6 1.8 2.0
Position of Ax (m) Position of Bx (m)

(a) (b)
0.38 ................°°....... :°--°°-r°-----. ......... ..................._
0.36 .........j.........i--------.;.. +-------°+-- ..................................
0.34 .........i.........i .........:.........E...................................:....... _

0.30 .........6.........E ........:...°°..:°° ............ .... ....

0 i i i i E
0.28 .........:.........:...................................:.........I..........I........
0
6 0.26 ............................:.........:...................:.........<.......
a0
024 ................................................................;'..........I ....-.
0.22 ..... ........... .......°i°--°-°+--°°---.................- ` ---
0.20
0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6 1.8 2.0
Position of Gx (m)

(c) (d)
Fig. 6.5. Rover's trajectory on 30-degree slope. (a) Front wheel trajectory (b) Middle
wheel trajectory (c) Rear wheel trajectory (d) Body CoM trajectory

32


Refer Fig. 6.6, the rover moves at speed 16 cm/s, then at time 1.36 sec the front
wheel touches the slope and begins to climb up, the rover velocity reduces to 8 cm/s.
Then at time 3.24 sec the middle wheel touches the slope and the rover velocity reduces
to 3 cm/s. Then middle wheel climbs up and the velocity of the rover starts to increase
and goes to 16 cm/s until rear wheel touches- the slope. When rear wheel touches the
slope at time 8.74 sec the velocity again decreases to 10 cm/s and the rover continues to
climb. When all the wheels have covered the slope the velocity of the rover again
increases to constant value 16 cm/s. The animation frame of the rover is shown in Fig.
MIA

0.18
..---..
0.16 --- --- - ---••-----------------•_......---- U
0.14 ------

0.12 ----•• -----._ ...... ..... ........

44
x -
CD

0.08 ...... ,.... ~..----• --.... ..... ........:........ .......

0.06 ....... --. ..._ ....... ....... ........ ....... .......

0.04 --- --- ----- ------ -----• ------ ------ -----..

0.02 ....-. ....... ....... ----- ......- ------ •----

0.00
0 2 4 6 8 10 12 14 16
Time (s)

Fig. 6.6. Velocity of rover on 30-degree slope.

33
Fig. 6.7. Animation of rover climbing 30-degree slope.

34


6.4 Rover climbing up a step:

In Fig. 6.8, the rover is moving over a step like obstacle. The trajectory of the wheels and
body CoM is shown in the figure.

0.16. 0.03-

0.14-

0.10. E
0.01 .
0.08.
0
0
0.06. J o.oo
U)
0
0. 0.04.
0.02. -0.01 .

0.00. - - - - ,.."...... ........................

r--- ----- ---- -0.02 . r • ---i
0.65 0.70 0.75 0.80 0.85 0.90 0.95 1.00 0.4 0.5 0.6 0.7 0.8 0.9
Position of Ax (m) Position of Bx (m)

(a) (b)
0.28

0.26.

EEII
':: E 0.35 0.40 0.45 0.50 0.55 0.60 0.65 0.70
Position of Gx (m)

(c) (d)
Fig. 6.8. Rover's trajectory on a step. (a) Front wheel trajectory (b) Middle wheel
trajectory (c) Rear wheel trajectory (d) Body CoM trajectory

35
 In Fig. 6.9, the rover velocity is plotted against time, the rover moves at a speed of
16 cm/s. The front wheel hit the step at time 1.36 sec and begins to climb up, the velocity
decreases and reaches to zero. When front wheel is over the step, velocity again starts to
increase and becomes 16 cm/s. Then at time 4.18 sec the middle wheel hit the step and
velocity of the rover decrease to zero; now the middle wheel is not able to climb up the
step. In Fig. 6.10, the animation frame of the rover climbing up a step is shown.

0.18

0.15

0.12

0.09 f ..-_. _....-. ....--.. ......._ ..---•- ........

0 2 4 6 8 10 12 14
Time (s)

Fig. 6.9. Velocity of rover on a step.

36
Fig. 6.10. Animation of rover climbing up a step.

37


6.5 Rover encountering a ditch:

Here rover is moving to a ditch. The trajectory of the wheels and body CoM is shown in
the Fig. 6.11.

0.0z ..................................... ............._....-.............................; 0.1s .................................s.------.....-.------------............--.......------;

0.00 ... ........................ .... 0.10 ......................:............:........................................+-•-------....,

E 0.02 .................:................. ................ ................................ 0.05 ............ t ................................................. ............

.0.04. -...................................
0.00 -- ' .........---< .............
0
.................................................. ............... ~.................
0 -0.05 .....-°:......-°-° =-----°-----i .............E......................-:.............:
0.

-0.08 ................................. .................................................i

-0.10 ........i............:.--°----......---°--....'° °-
-0.10 ------------- ---i................. .................E
-0.15
0.6 0.8 1.0 1.2 1.4 1.6 0.45 0.60 0.75 0.90 1.05 1.20 1.35
Position of Ax (m) Position of Ex (m)

(a) (b)
o za .........................................................................................

023 ........ i........i........ i.........'........?.........L.-----.! ............. ...

0.22 ... ... ... ... ... ...

> 021 .........................................i........'_..-.- - - ..... ... ...

C7

020 ................6........:........l.......l........'_...-- ...

0 0.19 ........i ........ .....'--------;...:.......... .-. ... ...

a
0.18 ........................i...............I.....--- •-----. ............ ..

0.17 ........:........:........:........:........:..... ' .....: .......;

0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3
Position of Gx (m)
(c) (d)
Fig. 6.11. Rover's trajectory on a ditch. (a) Front wheel trajectory (b) Middle wheel
trajectory (c) Rear wheel trajectory (d) Body CoM trajectory


Refer Fig. 6.12, the rover moves at speed 16 cm/s, then at time 2.28 sec the.front
wheel touches the ditch and velocity increases to 40 cm/s. The middle wheel touches the
ditch at time 3.76 sec and velocity decreases to zero even goes in negative direction,
when middle wheel comes down, velocity again increases to 14 cm/s. Then at time 4.52
sec front wheel hit the up of ditch and begins to climb up, the velocity decreases and
reaches to zero. When front wheel is over the step, velocity again starts to increase and
becomes 16 cm/s. Then at time 7.65 sec the middle wheel hit the up of ditch and velocity
of the rover decrease to zero; now the middle wheel is not able to climb up the step. In
Fig. 6.13, the animation frame of the rover on the ditch is shown.

0.5 .............. ..............

E
x 0.2
(9 i i
• ............ ....................•-.•.••.•..•..•..•-.-..-............•.•-.•-•--•--•.......
0
v .1

0.0 -••-.•.....-. - . .... ......

-0.1

0 3 6 9 12 15
Time (s)

Fig. 6.12. Velocity, of rover on a ditch.

39
Fig. 6.13. Animation of rover on a ditch.
 Chapter 7
CONCLUSION & FUTURE SCOPE

In this thesis work we have analyzed the six wheeled rocker-bogie rover. The
Kinematics of the rover is presented in detail and quasi-static force analysis is also done
for the rover for planar case. The bond graph model for the rover is developed which
represents the dynamics of the system and motor dynamics is also added to the system.
The rover is simulated over various uneven terrains and the performance of the rover is
analyzed over flat, slope, step and ditch profile of surface. The results of simulation show
that rover crosses flat and slope profiles. In case of step profile only front wheel crosses
the step, when middle wheel hit the step the velocity becomes zero and it is not able to
climb. In case of ditch profile also only front wheel crosses the ditch, when middle wheel
hit the up of ditch the velocity goes to zero and it is not able to climb.
In the future work, some control strategies will be added to the system so that it
can cross step and ditch profiles of ground without being stuck. The three dimensional
bond graph modeling can be the future work.

41
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