Hello!
This is Rocker-Bogie Rover, a radio frequency controlled robot, that i made with the famous Rocker-bogie suspension system developed by JPL NASA for exploration rovers (like sojourner).
The main board is based on a picaxe 28x2 and a 08m2. The main program runs into picaxe 28x2, and it calculates the rpm speed of the wheels (PWM) and the orientation of the servo as a function of parameters like: rpm speed and instantaneous center of rotation. PWM values and the rotation direction are sent to the "driver board", while the servo orientation values are serially sent to the picaxe 08m2, that is used to control the servo orientation.
The driver board is used to drive the 6 motors with 3 L293D chip.
The receiver board carries a RF 315Mhz Module and a picaxe 08m serial connected to the 28x2.
Other details are:
- 2 dc-dc step down power regulator
- board with some leds and a power switch.
- 8*1.2V rechargeable battery
- a lot of wires
The links of the suspension are made of aluminum square tube and the body is made from the enclosure of a computer cd player. The body is supported from a "differential gear" with 1 dof blocked. The differential gear also connect the right suspension from the left suspension.
Pictures:
Further information about this project:
- my website: http://www.robotelettronica.altervista.org/ or http://www.robotelettronica.altervista.org/projects/rocker-bogie_rover.html(yet only Italian, English soon)
- video youtube 1: https://www.youtube.com/watch?v=nG9tA3SjhoY&feature=c4-overview&list=UUydWnLOwJ38-hxYttx-CCqw
- video youtube 2: https://www.youtube.com/watch?v=cybI-6OqhTQ&feature=c4-overview&list=UUydWnLOwJ38-hxYttx-CCqw
This is Rocker-Bogie Rover, a radio frequency controlled robot, that i made with the famous Rocker-bogie suspension system developed by JPL NASA for exploration rovers (like sojourner).
The main board is based on a picaxe 28x2 and a 08m2. The main program runs into picaxe 28x2, and it calculates the rpm speed of the wheels (PWM) and the orientation of the servo as a function of parameters like: rpm speed and instantaneous center of rotation. PWM values and the rotation direction are sent to the "driver board", while the servo orientation values are serially sent to the picaxe 08m2, that is used to control the servo orientation.
The driver board is used to drive the 6 motors with 3 L293D chip.
The receiver board carries a RF 315Mhz Module and a picaxe 08m serial connected to the 28x2.
Other details are:
- 2 dc-dc step down power regulator
- board with some leds and a power switch.
- 8*1.2V rechargeable battery
- a lot of wires
The links of the suspension are made of aluminum square tube and the body is made from the enclosure of a computer cd player. The body is supported from a "differential gear" with 1 dof blocked. The differential gear also connect the right suspension from the left suspension.
Pictures:
Further information about this project:
- my website: http://www.robotelettronica.altervista.org/ or http://www.robotelettronica.altervista.org/projects/rocker-bogie_rover.html(yet only Italian, English soon)
- video youtube 1: https://www.youtube.com/watch?v=nG9tA3SjhoY&feature=c4-overview&list=UUydWnLOwJ38-hxYttx-CCqw
- video youtube 2: https://www.youtube.com/watch?v=cybI-6OqhTQ&feature=c4-overview&list=UUydWnLOwJ38-hxYttx-CCqw
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