Design & Modification of Arduino Based Rocker Bogie Mechanism for Security Purpose

By

Hafiz Bilal Khan (16me27)

Ahmed Wali (16me16)
Naif Bugti (16me22)
Ham Mengal (16me31)
Abdullah (16me43)
Marjan Khan Khosa (15ME49)
Supervised By

Abdul Hameed Baloch

Co-supervised By

Engr. Javaid Iqbal

Balochistan University of Engineering & Technology Khuzdar

 Certificate of Approval

We accept the work contained in this report titled,” Design, & Modification Of Arduino Based Rocker
Bogie Mechanism For Security Purpose’’ as a confirmation to the required standard for the partial
fulfillment of the degree of Bachelor of mechanical engineering.

__________________

Head of Department

__________________

Supervisor

__________________

Examiner
 Declaration of Authorship

I declare that this thesis titled, “Design & Modification Of Arduino Based Rocker Bogie Mechanism For
Security Purpose” and the work presented in it are my own. I confirm that:

 This work was done wholly or mainly while in candidature for Bachelor of Mechanical Engineering
degree at this University.
 Where any part of this thesis has previously been submitted for a degree or any other qualification at
this University or any other institution, this has been clearly stated.
 Where I have consulted the published work of others, this is always clearly attributed.
 Where I have quoted from the work of others, the source is always given.
 With the exception of such quotations, this thesis is entirely my own work.
 I have acknowledged all main sources of help.

Project Members

Hafiz Bilal Khan (16me27)

Ahmed Wali (16me16)
Naif Bugti (16me22)
Ham Mengal (16me31)
Abdullah (16me43)
Marjan Khan Khosa (15ME49)
 Acknowledgements

First and foremost, praises and thanks to Allah, the Almighty, who bestowed me the stamina and courage to
complete our Research work successfully.
 Abstract

The Rocker bogie suspension system is an obstacle, such as a rock with more than six wheel diameters, while
keeping all six wheels on the ground.

Our six-wheel Wanderer bogie suspension design has the advantage of linear bogie motion, which can protect
the entire system from rollover during high-speed operation.

This improvement will increase the reliability of the structure on rough surfaces and enable faster exploration.
Here we use Proteus for the simulation Rocker-Bogie suspension mechanism.

Our purpose Is to simulate Rover to find slip and its Deviation from desired path and express the complete
process of importing Pro-E file into Proteus experimental results will confirm the validity of models.

We will expand its support polygons to make it more stable and adaptable at high speeds, and maintain its
initial robustness to simulate and analyze the rover bogie system with increased system stability and operating
speed.

Some mechanical changes are made to the mechanism and suggested to gather maximum Benefit & Stability
for the operational speeds of future rover.
 Table of Content

CERTIFICATE OF APPROVAL 2

DECLARATION OF AUTHORSHIP 3

ACKNOWLEDGEMENTS 4

ABSTRACT 5

CHAPTER 1 INTRODUCITION

1. 1 Introduction 10
101. 2 Problem Statement 10
1. 3 Objectives 10
1. 4 Goal 11
1. 5 Block Diagram 11

CHAPTER 2 LITERATURE REVIEW

2. 1 Background 13
2. 2 History of Rocker Bogie 13
2. 3 Types of Rocker Bogie 14
2. 4 Recent rovers and their missions 15
2. 5 Design and optimization of Mars Rover's rocker bogie mechanism. 15

CHAPTER 3 METHDOLOGY

3. 1 Methodology 17
3. 2 Circuit Design 17

3. 3 Software’s 17
3. 4 Hardware Specifications 17

3.4. 1 Arduino UNO 18

3.4. 2 L293D Motor Driver 18
3.4. 3 HC-05 Module 19
3.4. 4 Metal Detector 20
3.4. 5 12v Gear Motor 21

3.4. 6 Camera 21

CHAPTER 4 RESULT & DISCUSSION

4. 1 RESULT 24
4.2 Experiment/test…………………………………..………………………………….24-26

4.3 Graphical Results…………………………………………………………..……..…27-28

4.4 Applications………………………………………………………………..………...…28
4.4 Advantages…………………………………………………………………………......28
4.5 MIT App……………………………………………………………………………......29

4.6 System & simulation design……………………………………………………………29

4.7 System………………………………………………………………………………….29

CHAPTER 5 CONCLUSION AND FUTURE WORK

5.1 Conclusion…………………………….…………………………………………….…31
5.2 Future work…………………………………………………………………………….31

APPENDIX 1........................................................................................................................32

REFERENCES.....................................................................................................................34
 List of Figures

F.NO DESCRIPTION PG.NO

Figure 1.5 Block Diagram 11

Figure 3.2 System Design 18

Figure 3.4.1 Arduino UNO 19

Figure 3.4.2 L293D Motor Driver 20

Figure 3.4.3 HC-05 Bluetooth Module 21

Figure 4.1 Final Diagram 24

List of Graphs

Graph 1 Case 1 27

Graph 2 Case 2 27

Graph 3 Case 3 28

List of Tables

Table 1 Case 1 27

Tables 2 Case 2 27

Tables 3 Case 3 28
 CHAPTER 1

INTRODUCTION
1.1 Introduction
The Rover-bogie mechanism has no springs and short sections in each wheel, allowing the chassis to climb up
any obstacles, such as rocks, ditches, sand, etc. These obstacles can double the diameter of the wheels while
keeping all wheels on the ground for maximum time. As with any suspension system, the tilt stability is
affected by the height of the center of gravity, and the recommended system is the same. Systems using springs
tend to tilt because the load side yields during the obstacle course.

Relying on all centers of gravity, any vehicle developed based on a rocker bogie suspension can withstand at
least 450 degrees of inclination in any direction without tipping over, which is the biggest advantage for any
heavy-duty vehicle. The system is designed to be implemented in low-speed working vehicles (such as heavy-
duty truck bulldozers) that run at a slow speed of approximately 12 cm/s to prevent dynamic impacts and
equipment damage to the vehicle when there are large obstacles around Minimize. The mechanism allows the
diameter of the climbing obstacle to be twice the diameter of the wheel. It doesn’t employee spring and stubs
axles.

With the advancement in technology threats to our security are increasing day by day. In this project we are
trying to design, Simulate and analyze a technique (side channel analysis) with the help of which we can Detect
metal and we can use It for Security purposes.

1.2 Problem Statement

It takes too much time and it is difficult to work separately on different machines at a time. It is also too much
risky to search the mining places because it can cause to explode.

In present era Pakistan’s facing some issues regarding their security on the fields for this purpose we are not
able to use separate machines which will be costlier so it easy way to secure our fields.

1.3 Objectives
We will concentrate on eliminating the shortcomings of the rover, that is, the current swing bogie rover is
slow. Mobile vehicles used for exploration purposes are also very expensive. Due to the high cost of space
exploration, most missions are performed by NASA teams and other government organizations. We did not
perform any missions for geographic exploration purposes. Not only exploration but also the Rocker Bogie
Wanderer can also be used for military and civilian purposes, but it still needs to be cost-effective and fast.
When developing the rover, our goal was to optimize the speed so that the rover does not turn over and travel
faster, and make it cost-effective, with the greatest possible stiffness and roughness. We strive to pursue the
use of solar energy and structural changes.

1.4 Goal
The Goal of This Project Is

 To describe a physical model of a Rocker-Bogie rover

 To design simulate a robust rover
  To design a rover that can climb from 45-60 degree of inclined surfaces
 To design a suspension system in which all the wheel on the ground while climbing over obstacles
 A suspension system will help to not sink in the sand while moving on it
 Generate simulation diagram by importing Pro-E assembly file into Proteus followed by simulation
 changing front wheeler design up to 45 degrees
 To simulate a Rover-Bogie mechanism that can be used for security purpose in future
 To Simulate a Rover-Bogie mechanism that can be used for metal detection.

1.5 Block Diagram

 CHAPTER 2

LITERATURE REVIEW
2. 1 Background
Robots are permanently integrated in various fields to save human workers from difficult and painful tasks.
They are currently used for applications including office, military work, hospital work, industrial automation,
planetary exploration, security systems, hazardous environments and agriculture [1]. The robot's proposed
design enables it to walk across regions and regions to some extent beyond human reach. The rover can be
applied to research, surveillance and rescue applications. The robot is designed to go to slightly damaged areas
to help people. Even robots can travel at high speeds on debris and in flat planes. The robot will have a camera
used to take video. The robot will be built to search for areas that people cannot reach. To explore the planet,
the rover will be able to walk and survive in harsh conditions and even get samples of dust and rocks that use
manipulation mounted on top of it. The robot wirelessly supports Bluetooth. Will communicate by establishing
communication. For this design, we are using Arduino UNO as a microcontroller and HC05 Bluetooth model
for communication with the user. No remote controller can be compared to the skill of a human hand. Here,
along with the rover, manipulation is controlled with ease and ease of use of human hand gestures without
relying on traditional remote controllers that require sophisticated and skilled operators.

2. 2 History of Rocker Bogie

Thomas Thueer, Pierre Lemon [1] (2006) “Carb-Exploration Rover with Advanced Obstacles Negotiation
Capabilities “Have Introduced Locomotion Concept Crab, And Compared It with Other Rovers Regarding
Obstacles Negotiation Capabilities.

Harjinder Singh, Et-Al [2] (2011) “The design and test of a six-wheeled lunar rover that moves on uneven
terrain" describes the design, development and testing of a six-wheeled lunar rover that moves on uneven
terrain. The rocker bogie mechanism is used to design the suspension mechanism of the rover.

Hervey Hacot, Steven Dubowsky, Philippe Bidaud Hac-Dub-Bid [3] (1998-07) "Analysis and Simulation of
Rocker Bogie Exploration Rover" analyzed and simulated the Rocker Bogie mechanism

The concept of our project is "analysis and simulation based on NASA's Rocker-Bogie bogie drive system that
can be used for metal detection and safety purposes".

We chose Pro-E for model design and Proteus to simulate the Rocker-Bogie Rover roaming mechanism, which
can be used for safety purposes and mine detection.

In our software based design we have included solar system for operating purposes, sensor for the detection
of metals, moveable joint wheels for climbing on rocks, Arduino Mega for the micro controller and camera
for taking images snaps for data collection.
2. 3 Types of Rocker Bogie
1. Lunakhod

The first planet was selected as the "Lunakhod" geological exploration vehicle that was sent to the Soviet
Union twice. Luna's task is to collect information and send pictures of the environment near the settlement. A
team of 5 people instructed Lunakhod in real time at the Deep Space Center near Moscow 5 in the Soviet
Union. Lunakhod 2 visited Lunar Med memory bank (Rain Sea) for 11 months in one month, and the results
covered 37 kilometers of the moon area.

2. Sojourner
In 1996, NASA-Jet Propulsion Laboratory and California. The Institute of Technology has designed a better
rover. A similar structure is called Sojourner and Marie Curie. The smaller rover weighs only 10.5 kg and is
equipped with a microwave oven. The large rover was installed in December 1996 through the Sojourner
Pathfinder Landing module. I have a Curry Rover. It is also planned to be sent to Mars with the "cancellation"
of the 2001 mission. The operators have sent orders through Lander Pathfinder, and they have also checked
the rock and soil composition of Mars for 3 months. Susan (Suzanne) is a breakthrough in search rover with
its unique six-wheel suspension system. A half wheel diameter can control the height of the diameter to pass
through obstacles of the car, such as table size obstacles.

3. Nano rover
The other rover in the active suspension system is the Nano rover, which was invented to search for small
celestial bodies like comets and astronauts in space. Features and advantages of this lightweight robot with a
small size. The system consists of four wheels with a diameter of 6 cm. The wheels are independently mounted
on the position struts of the chassis. Since the robot can walk left and right (upside down), inversion is not a
problem. The computer on board can also use the suspension system to arrange traction.

4. Shrimp
Crab is also a six-wheel wanderer designed by the Swiss Federal Institute of Technology. One of EPFL has
no stability problems when climbing obstacle diameter four times in front of two wheels. The east wheel has
four parallel colored bogies, which balance the reaction force of the wheels during the climb. The single front
and rear wheels directly connected to the main body are also driven by motors to increase climbing ability.

5. Inflatable Rover
Another alternative is that if the wheels are larger than the rover, walking obstacles in difficult environments
with larger wheels can easily accomplish the most uneven things. The rover indicated by the Rocky Surface
Probe is 1.5. The diameter of the instrument wheel can travel about 99% of the area. The inflatable rover has
3 wheels that drive motors.
2. 4 Recent rovers and their missions
Most space exploration activities can be divided into three categories: one interest, one interest in order to
better understand our universe; and the economic potential of using foreign natural resources; our planet; and
the corpses of future alien colonies; in addition, our scientists are most interested in Mars. Because the bodies
of these planets are sphere and are close.

The flowing environment is very hospitable, and there may be another color. Since there is no atmosphere,
the moon is too large to be used in scientific instruments such as observatories or infrared binoculars.

Devices like these can measure the signal that they will otherwise the earth will be disturbed or destroyed.
Interest in much of our knowledge of Mars relates to expansion with respect to the planet, especially its ability
to support Human colony. Learn more about its structure. The atmosphere and soil can tell us that Mars may
support microbial life. Since 1976, the National Aeronautics and Space Administration (NASA) began to
explore the surface of the dual landing of the Viking 1 and Viking 2 landers on Mars from the rover.

In 1997, the Mars Pathfinder (MPF) lander successfully provided Sojourner with a horizontal rover. Recently,
in a hurry in 2004, NASA launched two Mars probes to Mars, Soul and Space. In November 2011, although
NASA sent many rovers to Mars, the Mars Science Laboratory (MSL) launched by NASA was called the
"Rover Curiosity", and each mission had the same goal.

2. 5 Design and optimization of Mars Rover's rocker bogie mechanism.

The rocker bogie suspension system is specially designed for space probe aircraft. Its development history is
long. The term "rocking chair" refers to the jerky part of adulthood. The linkages represent all aspects of the
suspension system and are balanced in Phuket, as these seesaws are connected to each other through selected
improvements and to the vehicle chassis. Keep the center of gravity of the entire vehicle according to the
movement. When one rocking chair rises, the other rocking chair falls. The chassis that allows the two
joysticks to move accordingly plays an important role in maintaining the average pitch angle of the two
joysticks. According to the strict design, one end of the rocker arm is equipped with a drive wheel with s,
while the other end is pivoted. A Phuket that provides the required movement and freedom. Responding to the
suspension system of the rocker bogie.

Design of rocker bogie

 CHAPTER 3

METHODOLOG
3.1 Methodology
The rocker bogie mechanism is responsible for its maneuverability. Rover rides a six-wheeled rocker bogie.
The suspension system ensures that the wheels stay in a certain area and allows Rover to overcome obstacles.
Each wheel has its own electric motor. The car spins, turns, and turns the altar all over the place. There is a
rover designed to withstand a 45-degree tilt in any direction without reversal. The rover is controlled
wirelessly. The signal is provided by a smartphone, which is linked to the Arduino through software.

3.2 Circuit Design

3.3 Software’s
 Arduino IDE

Arduino (IDE) is a cross-platform application for Windows, MACOS, and Linux, written in C and C++
functions. Arduino IDE provides a software library from the Wiring project, which provides many common
input and output processes. Arduino's open source software (IDE) makes it easy to write code and upload it to
the development board. It can run on Windows, Mac OS X and Linux. The code is written in Java and is based
on processing and other open source software. The software can be used with any Arduino board.

3.4 Hardware Specifications

1. Arduino UNO
2. L293d Motor Drive
3. NodeMCU.
4. Camera V380.
5. Metal Detector
3.4.1 Arduino UNO

Figure 3.4.1 Arduino UNO

The Arduino Uno is an ATmega328P based microcontroller board (data table). It has 14 digital inputs /
outputs (6 of which can be used as PWM outputs), 6 analog inputs, a 16 MHz ceramic resonator (CSTC
16160055-R0), U There is SB connection, power connector, ICSP connector, and a reset button. It has
everything you need to help the microcontroller. Connect it to your computer using just a USB cable or turn
it on using an AC adapter or battery to get started. You can tinker with Ono regardless of whether something
is wrong, in the worst case scenario, you can replace the chip for a few dollars and restart.

Uno means one in Italian and was selected for the release of Arduino Software (IDE) 1.0. Uno board and
Arduino Software Version 1.0 (IDE) were reference versions of Arduino, now designed for new releases.
Onboard is the first and reference model of the Arduino platform in the Arduino USB board series. For a
comprehensive list of current, past, or obsolete boards, see the Arduino Board Index.

3.4.2 L293D Motor Driver

2L293D Motor Driver

The L293D motor driver is available to provide a user-friendly interface for the user easily and for embedded
applications. L293D motor driver mounted on good quality, one-way non-PTHPCB. The L293D motor driver
IC pins are connected to the connectors for easy access to the functions of the driver IC pin. The L293D is a
double bridge driver that can run up to 1V per bridge with a supply voltage of up to 24V. It can run two DC
motors, relays, solenoids, etc. The device is TTL compliant. The two H-bridges of the L293D can be connected
in parallel to increase its current capacity to 2 Amp. This L293D module can run 2 DC motors in both
directions.

Features

 Easily compatible with any system

 Easy interference via FFRC (flat ribbon cable)
 Mot helped in external power supply for motors
 P plane PWM (pulse width modulation) selection switch
 2 pin terminal block for easy motors connection (Phoenix connector)
 H-Bridge base motor driver IC (L293D) on board

3.4. 3 Node MCU (Micro Controller Unit)

Figure 3.4.2 Node MCU (Micro Controller Unit)

3.4. 4 Metal Detector

Metal detector

This is a module specifically designed for metal detection. The module operates in metal objects by generating
currents and responding when it occurs. A good buzzer signal on the ship when it detects an object and allows
the potentiometer on the ship to adjust the sensitivity.

Metal Detector Non-Contact metal induction tracking module's power cables will require soldering on for the
module to work, positive on the outside of the module and negative between the potentiometer and electrolytic
capacitor.

Specification

 Operating Voltage (VDC) - 5

 Detecting Range - 1 CM
 Dimensions in mm (LxWxH) - 66x60x14
 Weight (gm) - 15
 Shipment Weight - 0.105 kg
 Shipment Dimensions - 7 × 7 × 3 cm
3.4.5 12v Dc Gear Motor

Dc Gear Motor

It is a 12 V DC motor that has 100 rpm which can be run by the L293D motor driver. There are 6 wheels and
hence there is a need for 6 DC motors.

3.4.6 Camera V380

Wi-Fi mini camera v380

360 cameras with HD 1080P resolution and 360 ° fish lens, offers a visual view. 4 different viewing modes,
easy to zoom, double tap and focus on small details, perfect for holiday home monitoring, pet monitoring,
business monitoring, and senior monitoring 2.4G wireless Wi-Fi mobile remote Our user manual will guide
you through each step. And look at the camera in 1 minute. Widely used for indoor and outdoor: Baby monitors
talk and listen remotely via mobile app. You can stay in touch with your child when you lose them and want
to talk to them. This home security camera gives you an amazing night experience even in deep and complete
security to see the best room of the night. Daylight "is not just a limited view of light at any time of the day or
night.

Key Features

 H.264 1/4inch CMOS sensor 2.0MP HD.

 Built-in 38 DB Microphone, Clear Timbre. Wi-Fi compliant with wireless standards IEEE
802.11b/G/N.
 Mechanical IR-Cut device offers outstanding day/night performance, great color.
 Allow remote viewing and record from anywhere and anytime.
 Support TCP/UDP, IP, HTTP, SMTP, DHCP, DDNS, UPNP, NTP, ONVIF, RTSP and other internet
related protocols.
 1080P
 CHAPTER 4

RESULT AND DISCUSSION

4.1 RESULT
The rocker bogie mechanism is responsible for its movement. The rover mounted a six-wheeled rocker bogie
suspension system that ensures the wheels stay in driving in a specific area and allows the rover to overcome
obstacles. Each wheel has its own motor. The car revolves around the entire space, and the savers and curves
turn the altar. The rover is designed to withstand a 45-degree tilt in any direction without turning. The rover is
controlled wirelessly and the signal is delivered via software via a remote from LinkedIn to Arduino.

Figure 4.1 Final Design

4.2 Experimental Evaluation of prototype

Case 1: Testing of Rover at inclined surface

(a) (b) (c)

Figures (a) (b) (c) shows that our proposed design can easily climb the inclination angle ranging from
45 degrees to 60 degrees. At 65 degrees the rover cannot move because it cannot create that much
thrust which results the rover rollover. Considering the stability aspect, the rover while moving on
inclined path, whole set of wheels of rover has contact with ground. This also proves the fact that this
rocker bogie can beneficial for rough terrain.

Case 2: Testing of rover on wet surfaces

(a) (b) (c)

Figure (a) (b) (c) rover moving on wet surfaces

Figure (a), (b), (c), depicts the movement of rover on an uneven surface. This rover is tested in laboratory
section of mechanical engineering department. It has been evaluated that the proposed design can move on
soft surface like wet soil without getting stuck in the voids present in the soil. This is possible because of the
continuous wheel’s traction support that provides thrust to augment the rover on soft surfaces.

Case 3: Testing the rover while moving on rough terrain

(a) (b) (c)

Figure (a) (b) (c) moving on rough terrain surfaces
Figure (a) (b) (c) Developed prototype has the ability to comfortably move on sand, gravels and wet
soil without getting stuck in the voids. This is possible due the mechanism of the rover in which the
thrust force of wheels supports the body to move on sand or soft soil.

Case 4; Evaluation the climbing action of rover

(a) (b)
Figure (a)(b) climbing action of rover
 Figure (a) (b) (c) From the test we can see that our proposed suspension system can easily climb our
obstacles, due to the free movement of bogie while moving on obstacle can help the rover to climb
easily.

4.3 Graphical Results

Angle Height Speed (m/s)

Angle (Degrees)
(degrees) (meters)
1
45 1m 1m/s
0.75
50 1m 0.75m/s
0.5
55 1m 0.5m/s
0.25
60 1m 0.25m/s
0
45 50 55 60 65 65 1m 0m/s

(Graph 1) (figure 1)

With some height increase in angle can clearly show that, at 45 degrees and 1m height the speed is maximum
and with the increase in height more thrust force will be required hence causes gradually decrease in speed of
the rover. At 65 degrees angle the rover cannot move, because it cannot create the thrust force required to
climb such heights as a result the rover rollover.

Time (seconds) Speed (m/s)

0sec 0m/s
2sec 1m/s
4sec 2m/s
6sec 3m/s
8sec 4m/s
10sec 5m/s

(Graph 2) (Figure 2)

The above graph show that for a rover moving on wet surface will require more thrust force which in result
will cover less area and will take more time (here speed of the rover will be half as compare to dry surface)
 Time (seconds) Speed (m/s)
0sec 0m/s
1sec 1m/s
2sec 2m/s
3sec 3m/s
4sec 4m/s
6sec 5m/s

(Graph 3) (Figure 3)

The graph gives us straight line when the rover is moving on dry surface. It doesn’t affect the speed, it can
easily move on it without stocking and can cover maximum distance in less time

4.4 Applications

 In order to get over the obstacle, the rear wheel presses the wheel against the obstacle. Then, the
rotation of the front wheels lifts the front of the vehicle away from obstacles.
 The middle wheel is pushed towards the obstacle by the rear wheel s and pulled from the front to the
obstacle until it rises from the top.
 Finally, the rear wheel is pulled over the obstacle by the front wheel. When each wheel of the obstacle
passes, the forward speed of the vehicle will slow down or stop completely.
 These mobile vehicles move slowly, and the wheels lift each suspension to a part of the obstacle at a
time, thereby overcoming the obstacle.

4. 5 Advantages

 This method can make the size of the wheel baffle twice the diameter of the wheel
 No springs and hard shafts
 Equally distribute the load on all wheels
 The rocker arms move freely on both sides of the bogie
 Simple and reliable design
4. 6 MIT App

MIT App Creator is an intuitive visual programming environment that allows everyone (even children) to
create fully functional applications for smartphones and tablets. For those MIT application developers, the
first application for these novices is easy and can run in less than 30 minutes. Moreover, compared with
traditional programming environments, our block chain tools can facilitate the creation of complex, high-
impact applications in less time.

The MIT Applied Innovation Project aims to democratize software development by empowering everyone,
especially young people, to shift from technology consumption to technology creation. In this project we can
create an app to control our robot easily from everywhere, the design of the app is user-friendly and simple so
everyone can easily understand and can control the robot.

4.7 System Simulation Design

4.8 System Design

 CHAPTER 5

CONCLUSION AND FUTURE WORK

5. 1 Conclusion

With the continuous development of alien reconnaissance rover technology, this kind of robotic technology
can also be seen as a potential application on earth. Its real-time video monitoring and feedback capabilities
can help you detect various threats where people cannot be accessed. Due to its compact design, it can be used
in military and defense fields. In the near future, dance, rehabilitation, measurement, risk management, etc.
can change the demand for human needs. This technology has unlimited possibilities and can be used in
various applications.

5. 2 Future Work

As a modular research platform, the mobile station developed by this project is specially designed to facilitate
future work. With the advancement of technology, the rover can be used for more effective, with high
resolution cameras installed, the prototype has been developing on small scale. Some progress has been made,
such as attaching defense system to the rover, which can be used by bomb disposal teams so that they can
detonate bombs. With the development of larger models, it can be used to transport people and objects through
rough terrain or obstacle-like obstacles. This mechanism can be employed for augmenting the wheelchair. The
develop prototype can be taken to the rough terrain such as agriculture field, forest and valleys. This low cost
rover can also be sent to collect the data where human reach is difficult.
 Appendix 1

//Arduino Uno uploading code

//hafiz Bilal
//Web developer & designer

void setup () {
// put your setup code here, to run once:
Serial. Begin (9600);
pinMode (2, OUTPUT);
pinMode (3, OUTPUT);
pinMode (4, OUTPUT);
pinMode (5, OUTPUT);
}

void loop () {
// put your main code here, to run repeatedly:
char Cha=Serial.read();
if (Cha == 'F’) {
digitalWrite(2,HIGH);
digitalWrite(3,LOW);

digitalWrite(4,HIGH);
digitalWrite(5,LOW);
}
if(Cha == 'B'){
digitalWrite(2,LOW);
digitalWrite(3,HIGH);

digitalWrite(4,LOW);
digitalWrite(5,HIGH);
}
if(Cha == 'L'){
digitalWrite(2,HIGH);
digitalWrite(3,LOW);

digitalWrite(4,LOW);
digitalWrite(5,HIGH);
}
if(Cha == 'R'){
digitalWrite(2,LOW);
digitalWrite(3,HIGH);

digitalWrite(4,HIGH);
digitalWrite(5,LOW);
}
if(Cha == 'S'){
digitalWrite(2,LOW);
digitalWrite(3,LOW);

digitalWrite(4,LOW);
digitalWrite(5,LOW);
}
}
 References

[1] B. D. Harrington and C. Voorhees, “The Challenges of Designing sthe Rocker-Bogie Suspension for
the Mars Exploration Rover”, Proceedings of the 37th Aerospace Mechanisms Symposium, Johnson Space
Center, page No. 185-1985, May 19-21, 2004. https://ijisrt.com/wp-content/uploads/2017/05/Design-of-
Rocker-Bogie-Mechanism-1.pdf

[2] Brooks Thomas; Graham Gold; Nick Sertic; DARK ROVER ROCKER-BOGIE OPTIMIZATION
DESIGN, The University of British Columbia, Project Number 1076 January 18, 2011.
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[3] P.E.Sandin, Robot Mechanisms and Mechanical Devices Illustrated (McGraw Hill-New York-2003).
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