MODELLING AND DYNAMIC ANALYSIS OF ROCKER- BOGIE ROVER FOR SPACE EXPLORATION

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.