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Figure 4-26 Rocker bogie
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can negotiate obstacles that are twice the wheel height. This figure shows only the basic parts of the mobility layout. The part labeled chassis is the backbone or main support piece for the main body, which is not shown. The very fact that each wheel is passively loaded by the rocker bogie suspension reduces its negotiable chasm width. Lockable pivots on the bogie can extend the negotiable chasm width by making the center wheels able to support the weight of the entire vehicle. This adds yet another actuator to this already complicated layout. This actuator can be a simple band or disc brake. The rocker bogie suspension can be skid steered, but the side forces on the wheels produce moments in the rockers for which the rockers must be designed. Since the wheels are at the end of arms that move relative to each other, the most common layout puts a motor in each wheel. Steering is done by turning both the front and the rear wheels with their own steering motors. This means that this layout uses 10 motors to achieve its very high mobility. In this design, the large number of actuators reduces the number of moving parts and over all complexity. The steering geometry allows turning in place with no skidding at all. This is the layout used on Sojourner, the robot that is now sitting on Mars after completing an entirely successful exploration mission on the Red Planet. Mobility experts claim this layout has the highest mobility possi-
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ble in a wheeled vehicle, but this high mobility comes at the cost of those ten actuators and all their associated control electronics and debug time. There is a layout that is basically six-wheeled, but with an extra pair of wheels mounted on flippers at the front. These wheels are powered with the three on each side and the vehicle is skid steered, but the front set of wheels are only placed on the ground for extra traction and stair climbing. This layout is in the same category as several layouts of tracked vehicles, as are several of the eight-wheeled layouts. The next logical progression, already commercially available from Remotec in a slight variation, is to put the four center wheels on the ground, and put both end pairs on flippers. The center pair, instead of wheels, could be tracks, as it is on Remotec s Andros. The flippers carry either wheels or short tracks. This vehicle is rather complicated, but has great mobility since it can reconfigure itself into a long stairclimbing or crevasse-crossing layout, or fold up into a short vehicle about half as long.
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If six wheels are good then eight wheels are better, right For a certain set of requirements, eight wheels can be better than six. There is, theoretically, more surface area simply because there are more wheels, but this is true mostly if there is a height limitation on the robot. If the robot needs to be particularly low for its size, then eight wheels may be the answer. The most common layout for eight wheels, since inherently there are more moving parts already, is to skid-steer with fixed wheels. Lowering the center two pairs aids in skid steering just like on a six wheeled skid steer, but the four wheels on the ground means there is less wobbling when stopping and starting. Figure 4-27 shows this basic layout with the center wheels lowered slightly. With all the wheels fixed there are many times when several of the wheels will be lifted off the ground, reducing traction greatly. A simple step to reduce this problem is to put the wheels on rockers, in pairs on each side. A set of wheels may still leave the ground in some terrains, but the other six wheels should remain mostly in contact with the ground to give some traction. Adding steering motors at the attachment point of each rocker would produce four-corner steering with minimal skidding. Since the bogie is a fairly simple arm connecting only a pair of wheels, a single motor could potentially be mounted near the center of the bogie and through a power transfer system, drive both wheels. This would
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