Baluchistan university of Engineering & technology Khuzdar 1

By
Abdul Haq (Group Leader) 17ME37
Javed Khetran 17ME32
Habib Ur Rahman 17ME24
Khalil Ahmed Shukrani 17ME22
Ruhail Bhugti 17ME13
Syed Waleed Ullah 17ME10
Muhammad Owais 17ME09

Supervised by
()

Co-supervised by
()
 Baluchistan university of Engineering & technology Khuzdar 2

<Project title>

Configuration & Amendment of Arduino Based Rocker Bogie Mechanism

developed for Security Purposes.
 Baluchistan university of Engineering & technology Khuzdar 3

Thesis/Dissertation Certificate of Approval

This is to certify that the research work present in this thesis, entitled “Configuration &

Amendment of Arduino Based Rocker Bogie Mechanism developed for Security Purposes”

was conducted by MR ( ) under the supervision of MR ( ).

No part of this thesis has been submitted to anywhere else for any other degree. This

thesis is submit to the Degree of Bachelor Mechanical Engineering in the partial fulfillment of

the requirement.

Department of ___________________

University of ____________________

HOD __________________

Supervisor______________

Examiner_________________
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Acknowledgment

By the grace of Almighty Allah the most merciful and most beneficent we have

completed our dissertation on Configuration & Amendment of Arduino Based Rocker Bogie

Mechanism developed for Security Purposes.

We are grateful to MR ______________ for his supervision throughout the working time.

He really helped us a lot by sharing his valuable knowledge with us.

We do want to express sincere gratitude to our parents, teachers and relatives for their

assistance and motivation in helping us to finish this dissertation.

In the last, we are also grateful to everyone who helped us with our thesis and gave useful

advice, suggestions, directions, and support, as well as direction.

 Baluchistan university of Engineering & technology Khuzdar 5

Abstract

The Rocker bogie stabilization program enables an obstruction with much more over 6

wheel diameter to be overcome whilst maintaining all 6 sessions just on floor. Our six-wheel

Wander bogie suspensions features continuous bogie movement, which protects the overall

structure from collapse throughout elevated operations. This enhancement will enhance the

tower's durability on rough terrain and allow for speedier investigation. Proteus is used to

simulate the Rocker-Bogie suspension arrangement in this case.

The rocker bogie's key mechanical characteristic is its drive shafts simplicity, which is

achieved by having only two engines for motion. Both engines are housed within the housing,

which reduces heat variance and improves dependability and economy. Since there are rarely

barriers on natural features that necessitate those front axles of the rover to ascend at the same

time, four wheels are being used. A number of movement tests on farmland, uneven roads,

sloped, stairwells, and obstructions surface revealed that now the rocker bogie can travel some

distances on the plain.

Our goal is to recreate Rover's slide and divergence from the preferred course, as well as

to describe the full procedure of integrating a Pro-E file into Prometheus. The testing results will

prove the equations' validity. We'll increase the size of its reinforcement polygon to making it

more robust and flexible at incredible velocities, while keeping its original ruggedness to model

and analyses the rover bogie gear with enhanced system reliability and speed. Some mechanical

improvements to the system are advised in order to gain the most efficiency and safety for

potential rover economic and developmental.

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Table of Contents

Project title…………………………………………….. 2

Dissertation Certificate of Approval……………………. 3

Acknowledgment……………………………………….. 4

Abstract…………………………………………………. 5

Chapter 1 Introduction………………………………………………. 9

1.1 Introduction…………………………………………. 10

1.2 Problem Statement………………………………….. 10

1.3 Objectives…………………………………………… 11

1.4 Goals………………………………………………… 11

1.5 Block diagram……………………………………… 12

Chapter 2 Literature review…………………………………………. 13

2.1 Background………………………………………….. 14

2.2 History of Rocker Bogie…………………………….. 14

2.3 Types of Rocker Bogie……………………………… 17

2.4 Recent Rovers and their mission……………………… 17

2.5 Design and optimization of Mars Rover's rocker bogie mechanism ……… 17

Chapter 3 Methodology………………………………………………. 19

3.1 Methodology…………………………………………… 20

3.2 Circuit Diagrams……………………………………….. 20

3.3 Software ……………………………………………….. 21

3.4 Hardware Specifications……………………………….. 21

3.4.1 Arduino UNO………………………………………… 22

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3.4.2L293D Motor Driver…………………………………. 22

3.4.3 Hc-05 Module………………………………………… 23

3.4.4 12v Gear Motor……………………………………….. 23

Chapter 4 Results and Discussion…………………………………… 27

4.1 Result……………………………………………………. 28

4.2 Graphical Result………………………………………… 28

4.3 Applications……………………………………………… 29

4.4 Advantages……………………………………………… 29

4.5 System and Simulation Design………………………….. 30

Chapter 5 Conclusion………………………………………………… 31

5.1 Conclusion………………………………………………. 32

5.2 Future Work…………………………………………….. 32

References…………………………………………………… 35
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List of figures

Figure 1.5 Block Diagram……………………………….. 12

Figure 3.2 System Design……………………………….. 20
Figure 3.4.1 Arduino UNO ………………………………. 22
Figure 3.4.2 L293D Motor Driver………………………….. 22
Figure 3.4.3 HC-05 Bluetooth Module……………………… 23
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Chapter 1
Introduction
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1.1 Introduction

As these sliders are linked with each other and the truck frame by a redesigned split, the

name "rocker" denotes the rocking feature of the bigger integrated on every side of the rear

suspension and balancing the bogie. The term "bogie" alludes to the integrating links in the

mechanism which have a driving wheel at every end. Bogies have often been employed as idlers

for army tanks' tracks, dispersing the load throughout the landscape. Bogies were also

extensively employed on tractor trailer road freight at the time, as the vehicles would be carrying

much bigger loads [1].

Whenever one rocker travels upwards, other one travels down in line with the movement

to preserve the vehicle's center of mass. The undercarriage is important in maintaining the

overall angular position from both rockers by moving as needed [2].

These rovers' mechanics are pretty complicated. These analyses of how the rover reacts

with its surroundings must be designed and controlled. Rover strategic plan also necessitates the

use of models. In the existing published research, basic mobility analyses of rocker-bogie autos

have been created and is used for preliminary design [3].

Risks to our privacy are becoming more prevalent as technology progresses. We are

attempting to create, test, and analyses a technique (side channel analysis) through which we

would discover iron and use it for security purposes in this project [4].

1.2 Problem Statement

The bulk of the research in our literature study is focused on improving the rover's

mechanics, kinetics, and shape in order to achieve the above objectives. Everything takes far too

long and is tough to work on multiple computers at the same time. It is too dangerous to look for

mining areas since it could result in an explosion. Inside the current era, Countries that
 Baluchistan university of Engineering & technology Khuzdar 11

experience some challenges with regard to field safety. We are unable to employ separate

equipment for this reason, which would be more expensive, thus it is a simple solution to protect

our fields. It was required to incorporate a mechanically operated robotic arm on the rover that

could be commanded through a wireless controller.

The CRAB rover's hind bogie is fixed and directed by a front bogie, reducing the rover's

balance and increasing the likelihood of rolling over while travelling on an uneven slope or

mounting a large item.

1.3 Objectives

We'll focus on fixing the rover's flaws, such as the fact that the existing swing bogie rover

is sluggish. Exploratory vehicles that are transportable are likewise highly pricey. Because space

travel is so expensive, most trips are carried out by NASA and other federal agencies. We didn't

go on any expeditions for the aim of geographical exploration. The Rocker Bogie Wandering are

used for army and commercial objectives in addition to research, but it must be price and quick.

Our objective in constructing the rover was to optimize the pace so that it does not roll over and

travels quicker, as well as to create it price with the most rigidity and ruggedness feasible. We

also use A robotic arm is an example of physical arm that is typically checkable and consistently

develop similar to the human arm; the arm could be the sum of the method or may be part of a

larger robot. The manipulator's interconnections are joined by joints that allow either rotational

movement (as in an autonomous mobile robot) or linear motion (linear) dislocation. The

manipulator's connections can be thought of as a linear combination. The gripper is the railway

station of the manipulator's system can be expressed, and it is directly comparable to the user's

hand. Nevertheless, the phrase "industrial robot hand" as a shorthand for "robotic arm" is

frequently prohibited.
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Goal

Goal of this project are as follows:

1. A parametric study of a Rocker-Bogie rover is described.

2. To create a strong rover simulation

3. To create a rover capable of climbing 45-60 degree sloped slopes.

4. Create a control system that keeps all four wheels on the floor while over obstruction.

5. While going through the sand, a stabilization system helps you avoid sinking.

6. To create a model of a Rover-Bogie system that can be utilized for future security

purposes.

7. Change the front wheeler configuration up to 45-degree angle by loading the Pro-E

following analysis into Baxter and running simulations.

1.4 Block Diagram

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Fig 1: block diagram.

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Chapter 2

Literature Review
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2.1 Background
The rocker-bogie stabilization mechanism is proposed for the Mars Pathfinder project but

is also used on the (MER) and Mars Exploration Laboratory (MSL) investigations. NASA's

preferred design at the moment. The name "rocker" refers to the rocking characteristic of the

stabilization game's bigger links on both sides. A split connects these rocker to one another and

the car structure. Whenever one valve rises, the other falls in relation to the frame. Both rockers'

mean upper plate is maintained by the suspension. A driving wheel is mounted on one tip of a

rocker, while another end is pivoting to a bogie [1].

The rocker-bogie approach removes the need for hinges or stubs joints in every wheel,

permitting the vehicle to go over barriers half the width of the rear axle while retaining all rollers

on the surface. The tilt safety of any transportation system is reduced by the position of the

gravitational pull. As the weighted side gives, systems with springy tend to tilt very easily. It has

a driving wheels on one end and is pivoting to a bogie on either [2].

A robotic arm is a sequence of linkage that are shifted by joint surfaces that are hydraulic

actuators by motors. An end-effector, also known as a robot hand, can be tethered to the chain's

end. Robot arms, like other robotic processes, are usually classified by the number of variables.

Typically, the number of parameters is equal to the amount of joints which start moving the

robot arm's links. To achieve an arbitrarily defined pose (proprioception) in four space, the robot

hand must have at least degrees of freedom. Additional degrees of freedom enable changing the

layout of some arm links (e.g., elbow up/down) while retaining the robot hand in the same pose

[3].

The Space probe of the Mars Science Laboratory project can endure a lean of at least 45 °

in either way before overturn relying on its center of gravity, however automated sensors prevent
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the rover from tilting more than 30 °. For overcame differences that make, the system is meant to

be operated at a modest pace of roughly 10 centimeters per seconds (3.9 in/s) to limit static

stresses and subsequent collision damage [3].

2.2 History of Rocker Bogie

"Have Presented Motion control Concept Crab, And Comparison That with Other Rovers

Pertaining Barriers Bargaining Skills"   Pierre Lemon, Thomas Truer (2006) [1].

The construction, construction, and manufacturing of a six-wheeled moon rover that goes

on uneven ground is described in "The architecture and development of a six-wheeled lunar

module that goes on uneven surfaces." The rover's bouncing method relies on the scotch yoke

technology. The shorter connection that swivels to the rockers in the center and includes a

driving wheel at either end is referred to as the "bogie" section of the frame. Bogies were

regularly employed as weight wheels on military train wheels as idlers, dispersing the weight so

over landscape, and they were also widely utilized in truck trailers. Leading arm dampers are

currently preferred both by tanks as moderately. "Evaluation and speculations on NASA's

Rocker-Bogie bogie drivetrain that may be employed for iron identification and safety purposes,"

says the project's premise [2].

Pro-E was utilized for prototype model, and Baxter was used to simulate the Rockabilly

Rover wandering gear, which may be employed for mine identification and security. With our

app solution, a metal-detection sensors, adjustable joint tire’s for going on stones, an Arduino

Micro again for electronics [3].

2.3 Types of Rocker bogie

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1. Rover that inflates

Another option is to walk barriers in challenging surroundings with larger wheels, which can

effortlessly do some difficult objects. The Rugged Surface Probe indicates a rover of 1.5. The

monitoring wheel's diameter allows it to cover nearly all of the region. The motors are driven by

three wheels on the inflatable rover.

2.  Little rover

The Micro vehicle, which had been created to look for tiny astronomical things such as meteors

and humans in space, is just the other explorer in the active suspension. Features and

functionality of this lightweight and compact robot. The system is composed of four 6 cm wide

tires. The wheels are positioned individually on the chassis' positioning columns. Reversal is not

an issue because the robotic can walk both right and left (upside down). The shock absorber can

also be used by the electronic controller to organize traction.

3. Lunakhod

The "Lunakhod" geophysical study spacecraft, which was dispatched to the Eastern Bloc twice,

was chosen as first moon. Luna's job is to gather data and deliver images of the area around the

town. At the Inner Spaceport near Moscow 5, in the Soviet Union, a crew of five personnel gave

Lunakhod true instructions. Lunakhod 2 spent 11 months in one week visiting the Lunar Med

brain (Rain Sea), and the findings spanned 37 kilometers of the moon's surface.

4. Shrimp

The Federal Office Institute also created Shrimp Crab, a six-wheeled wanderer. Because one of

EPFL's students climbs a four-times-larger barrier across from two wheels, there are no stability
 Baluchistan university of Engineering & technology Khuzdar 18

issues. Four vertical colored bogies on the east tire moderate the shock wave of the wheel during

ascent. To improve climbing capabilities, motor operate the solitary but front back wheels that

are directly attached to the main section.

5. Sojourner

NASA's Ramjet Lab and Californian in 1996. The Institute Of technology has developed a

superior rover. Sojourner and Pierre Curie are two structures that are comparable. The

convection microwave is included in the tiny rover, which weighs only 10.5 kg. The Sojourner

Pioneer Landing kit was used to install the big rover in November 1996. I'm the proud owner of

a Golden Rover. With the "termination" of the 2001 trip, it is also scheduled to be flown to Mars.

The controllers used Lander Probe to send commands and examined the rock and soil texture of

Mars for three months. With its innovative six-wheel rear suspension, Susan (Suzanne)

represents a breakthrough in search rover technology. A half-diameter wheel can vary the

diameter's altitude to drive through automotive barriers such as table-sized obstructions.

2.4 Recent Rover and their Mission

The majority of space flight exercises can be classified into three parts: one involvement,

one involvement in better understand our world; one involvement in order to fully understand

our multiverse; and the growing economy of using international natural resources; and the dead

bodies of future alien settlers; in addition, our researchers are most engaged in Mars. Since these

worlds' cores are spherical and close together.

The fluid ambiance is quite welcoming, and also another hue may be present. The moon

is too big to be utilized in interest in smart like observatory or infrared telescopes since it has no

atmospheric. These systems detect the signal that would otherwise cause the soil to be damaged
 Baluchistan university of Engineering & technology Khuzdar 19

or annihilated. Much of our research about Mars is focused on expanding our understanding of

the planet, particularly its capacity to maintain a human settlement. Find out about the

architecture. Mars' oxygen and soil can reveal whether or not the planet supports bacteria. The

U.S. Air force (NASA) has been exploring the soil of the Viking 1 and Falcon 2 landers on Mars

from the rover since 1976.

2.5 Design and optimization

The rocker bogie stability mechanism was created with space probe planes in mind. It has

a lengthy history of evolution. The jerky portion of maturity is referred to as "rocking chair."

Because these seesaws are connected to each other and to the vehicle chassis via specified

enhancements, the connections reflect all parts of the rear suspension and are equal in Phuket.

Maintain the vehicle's gravity in accordance with the movement. When one of the rocking chairs

rises, the other one collapses. The chassis, which enables the two analogue sticks to move in

sync, is critical in keeping the mean angular position of the two motion controllers constant. One

end of the rocker arm has a drive wheel and s, while another end is hinged, as per the precise

design. A Phuket that allows you the necessary mobility and flexibility. Reacting to the rocker

bogie's suspension system.

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Fig 2: Rocker Bogie Design.

Chapter 3

Methodology
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3.1 Methodology

According to the studies, the rocker bogie system can reduce motion by half when tried to

compare to other active suspension that each of the bogie's six wheels has its own individual

method for movement, and the two and front 2 back axle each have their own wheel systems,

allowing the driver to turn in location at a 0 degree trying to turn ratio. Each wheel also includes

a strong cleat that gives enough traction to easily climb through soft sand and scramble over

boulders. A front wheels are pressed against the obstruction by the center and back axle, which

provide the highest needed power, in order to solve horizontal obstruction faces. The revolution

of the front wheel raises the vehicle's front end up and then over the obstruction and conquered

it.

Those tires in the center are then forced against the obstruction by the back wheels and

dragged even against barrier by the front wheels until the obstruction is raised up and over.

Finally, owing to the application of pull force, the rear axle is hauled over the impediment by the

front two wheels. The vehicle's forward movement is delayed or entirely stopped throughout

each wheel's traverse of the obstruction, which maintains the vehicle's gravitational pull. The

aforementioned concept has been shown in practice by putting it on an eight-wheel-drive ATV

equipment in order to maximize the benefits of the scotch yoke system.

Robotic arms of various types are already used at all levels of mass production, from

finely wrought circuit board arrangement to heavy steel automotive production lines, and a wide

range of 'material handling' (conveyor belt) application forms. This implies that even before

buying a product, you should understand which forms of configurable prosthetic limbs are best

suited to which surroundings and duties.

 Baluchistan university of Engineering & technology Khuzdar 22

Throughout every case, choosing the right type of configurable robot arm for a specific

role or task also must take into account the actual nature and criteria of the target purpose.

3.2 Circuit Design

Fig 3: Circuit Design.

3.3 Software’s

Arduino

Arduino (IDE) is a C and C++-based bridge application for Windows, Mac OS X, and

Linux. The Wire program's computer library is included in the Arduino IDE, and it offers several

basic inlet and outlet procedures. The open source (IDE) for Arduino enables writing code and

uploading it to the microcontroller simple. It is compatible with Windows, Mac OS X, or Linux.

The programming is implemented in Java and is built on free enables the enterprise such as

Process. Any Arduino board may be used on the program.

 Baluchistan university of Engineering & technology Khuzdar 23

3.4 Hardware Specifications

1. Arduino UNO

2. L293d Motor Drive

3. Node MCU

4. Metal Detector

3.4.1 Arduino UNO

The Arduino Uno is an open board that uses the ATmega328P microprocessor (datasheet). There

are digital pins insight pins (six of which may be used as PWM outputs), six analogue inputs, a

16 MHz clock crystal, a Micro USB, a power connector, an Electronic circuit, and a reset switch

on the board.

Fig 4: Arduino UNO.

3.4.2 L293D Motor Driver

The Motor driver driver is offered to provide such a subscriber input for embedding Programmes

and to give a customer interface between the users. Installed atop a high-quality each non-
 Baluchistan university of Engineering & technology Khuzdar 24

PTHPCB is an L293d driver. The connections of the L293D micro controller IC are linked to the

sockets for simple access to the drive IC pin's functionalities. The L293D is a double bridging

drivers with a voltage level of up to 24V and a maximum output of 1V per bridges. It can power

two Motors, relays, inductive loads such as relays, and other devices. The gadget complies with

TTL standards. The L293D's two H-bridges may be linked in parallel to boost the installed rating

to 2 Amp. This L293D module has the ability to drive converter in both direction.

Fig 5: L293D Motor.

3.4.3 Node MCU

Ten silica Xtensa LX106 32-bit RISC CPU microcomputer 3.3V is the working energy. 7-12V is

the input power. DIO (Digital I/O Pins): 16 ADC Analog Pin Pins: 1.
 Baluchistan university of Engineering & technology Khuzdar 25

Fig 6: Node MCU.

3.4.4 Metal detector

This is a component built exclusively for metal detecting. The module generates currents

in pieces of metal and responds to them as they occur. When the ship finds an item, it emits a

good beep signal, which lets the ship's adjuster to modify the sensitivities.

The current wires for the Backscatter Machine Out pas metal diction tracking module

must be soldered on for the unit to operate, with positive on the exterior and negatively between

the dial and electrolytic cell.

Fig 7: Metal Detector.

3.4.5 12v DC Gear Motor

A Direct Current (DC) motor is a revolving electronic device that transfers energy into

mechanical energy using direct current. When DC voltage is given to the terminal of an inductor

(coil) within a Motor driver, it generates a magnetic field that causes rotational motion.
Baluchistan university of Engineering & technology Khuzdar 26

Fig 8: 12v DC motor.

Baluchistan university of Engineering & technology Khuzdar 27

Chapter 4

Result and discussion

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4.1 Result

The main goal of the project is to build a vehicle for combat use in rescue, recovery, and border

area monitoring so that we may try to save critical lives of our soldiers while also introducing

science and technological advancements into our country's defense system. Quality is the most

important parameter for our paper, and it has been tested to the best of its ability. The work hours

that we created is divided into many pieces, and each section's work is done inside the time

frame that we set for it. The task of developing a vehicle's chassis employing a rocker bogie gear

was completed successfully, and it now functions as expected. Fabrication of several electrical

sensors, gadgets, and microcontrollers has also been achieved. Fabrication of several electronic

sensors, gadgets, and microcontrollers has also been finished. The design of the vehicle is

completed when both jobs are combined. As a consequence, we can conclude that we met the

goals set forth in our developer's plan.

4.2 Graphical Result

Angle Height Speed (m/s)

(degrees) (meters)
45 1m 1m/s
50 1m 0.75m/s
55 1m 0.5m/s
60 1m 0.25m/s
65 1m 0m/s
 Baluchistan university of Engineering & technology Khuzdar 29

Angle (Degrees)
1

0.75

0.5

0.25

0
45 50 55 60 65

Including some height rise in angle, it is obvious that the rate is highest at 45 degrees and 1 meter

ceiling, and that as the height increases, more propulsion power is required, causing the rover's

speed to progressively decline. The rover cannot travel at a 65-degree inclination because it lacks

the propulsion force necessary to reach such heights, causing it to flip over.

4.3 Applications

• The rear wheel forces the wheel even against obstruction in order to go over it. The movement

of the front axles then elevates the vehicle's front end away from obstructions.

• The back wheel pushes the center wheel toward obstruction, and the front tire pulls it along the

front of the impediment until it climbs to the top; finally, the front wheel pulls the back wheel

over the impediment. When every obstacle tire pass, the car forward speed slows or comes to a

halt.

•These movable vehicles travel slowly, and the tires elevate each damper to a smaller region of

the barrier at a time, allowing the vehicle to overcome it.

4.4 Advantages

1. Each wheel's load is almost identical.

2. There are no axles or springs, allowing for identical traction force on all wheels.

3. Can climb over obstacles twice the wheel's height while keeping all six wheels on the ground.
 Baluchistan university of Engineering & technology Khuzdar 30

4. Each wheel has the ability to raise the entire load on its own.

5. The rover gains more traction and stability by distributing the weight and drive force to six

wheels rather than four.

4.5 System Simulation Design

Fig 10: System Simulation design.

Baluchistan university of Engineering & technology Khuzdar 31

Chapter 5

Conclusion and Future Work

 Baluchistan university of Engineering & technology Khuzdar 32

5.1 Conclusion

This initiative will attempt to meet virtually all of our design specifications, while also

outperforming original concept aims in several ways. In addition, all electronic and structural

parts will be carefully assessed as a whole system in real-world test settings to ensure their

success. Apart from if the project goals are substantially over price, early projections for the

broad scope, money, and timetable will be followed strictly. With the continued advancement of

extraterrestrial spy rover tech, this type of automation systems could be used on Earth as well. Its

real-time video tracking and feedback abilities can assist you in detecting numerous hazards in

locations where people can indeed be reached. It can be employed in military defense domains

due to its compact form. Dance, recuperation, assessment, risk management, and other activities

may alter the demand for people's desires in the nearest term. This technology has limitless

potential and can be applied to a wide range of applications.

5.2 Future Work

Its eventual use will be to help humans on space missions and to act as a pathfinder. It can also

be valuable in space missions; for example, it was recently employed in the Mars Rover. The

irregularity of the terrain it is traveling on is taken into account by this system. This robot has

wider wheels than obstacles, thus it can easily navigate through most Mars rocks. It can also be

found in coal mines, acting as a surveillance robot, and participating in military operations. The

portable station built by this project is specifically designed to support future projects as a

versatile study of research. With the improvement of technology, the rover may be utilized for

more productive tasks, and the prototypes has been developed on a modest budget with high

definition cameras fitted. Some progress has been produced, such as the attachment of a defense

mechanism to the rover that will allow bomb squad crews to explode bombs.
 Baluchistan university of Engineering & technology Khuzdar 33

It can be utilized to carry people and items through rough terrain or obstacle-like impediments as

larger models are developed. This device can be used to improve the wheelchair's functionality.

The prototype may be used in tough terrain including farm fields, forests, and valleys. This low-

cost rover can also be used to collect data in areas where humans are unable to access.
 Baluchistan university of Engineering & technology Khuzdar 34

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