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The rocker-bogie suspension system is a type of mobility system commonly used in planetary rovers and exploration vehicles. It was first introduced by NASA's Jet Propulsion Laboratory (JPL) for the Mars Pathfinder mission, which included the Sojourner rover, and it has since been employed in various other robotic missions. The rocker-bogie system is designed to provide stability and flexibility for traversing rough and uneven terrains. It consists of a six-wheeled configuration with a distinctive set of two arms (rockers) and a bogie in the middle. The key features of the rocker-bogie system include: Rocker Arms: There are two rocker arms, one on each side of the rover. These arms connect the wheels on one side of the rover and allow them to pivot independently. This flexibility enables the rover to adapt to changes in terrain and maintain stability. Bogie: The bogie is a central structure that connects the rocker arms. It typically houses a differential, which allows the rover to adjust the speed of individual wheels, aiding in turning and maneuvering. The bogie also helps distribute the weight of the rover, ensuring stability. Six-Wheel Design: The rocker-bogie system typically employs a six-wheel design, with each wheel having its own motor for independent control. This design provides redundancy and improved mobility, allowing the rover to navigate obstacles and uneven surfaces more effectively. Passive Suspension: The suspension system is passive, meaning it does not rely on active components like shock absorbers. Instead, it relies on the geometry of the rocker-bogie system to absorb shocks and maintain stability. Adaptive to Terrain: The design of the rocker-bogie system allows the rover to climb over obstacles that are larger than the diameter of its wheels. The rocker-bogie system allows the rover to “walk“ over obstacles by flexing and adapting to the terrain. This suspension system has been successful in various Mars rover missions, such as Sojourner, Spirit, Opportunity, Curiosity, and Perseverance. It has proven to be a reliable and effective means of traversing the challenging and unpredictable Martian terrain. #engineering #mechanical #mechanism #cad #solidworks #fusion360tutorial
