Design and Analysis of a Rocker-Bogie Robot Mechanism

This paper presents the design, kinematic analysis, and performance evaluation of a mobile robotic system utilizing the rocker-bogie mechanism for enhanced mobility across unstructured and challenging terrain. The primary objective of this research was to develop and validate a robust platform capable of superior obstacle negotiation while maintaining chassis stability. The methodology involved the development of a scalable prototype, simulation of its motion dynamics using computer-aided tools, and experimental field testing. Key results demonstrated the robot’s capacity to effectively climb over obstacles up to twice its wheel diameter and maintain continuous six-wheel ground contact across inclines up to 35 degrees without tipping. The significance of this study lies in optimizing the passive articulation system for real-world applications such as search and rescue missions and remote surveillance, confirming the rocker-bogie mechanism’s effectiveness as a durable and highly mobile solution for extreme environments.