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Rocker Bogie Final

The project report details the design and development of a remotely controlled six-wheeled robotic vehicle utilizing a rocker bogie mechanism for enhanced all-terrain mobility. It incorporates an Arduino-based control system and a FlySky RC transmitter-receiver for precise motor control, allowing the vehicle to navigate uneven surfaces and obstacles effectively. The vehicle is suitable for applications in planetary exploration, search and rescue operations, and mobile robotics experiments.

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8 views6 pages

Rocker Bogie Final

The project report details the design and development of a remotely controlled six-wheeled robotic vehicle utilizing a rocker bogie mechanism for enhanced all-terrain mobility. It incorporates an Arduino-based control system and a FlySky RC transmitter-receiver for precise motor control, allowing the vehicle to navigate uneven surfaces and obstacles effectively. The vehicle is suitable for applications in planetary exploration, search and rescue operations, and mobile robotics experiments.

Uploaded by

spacewar.kai.r
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Project Report: Rocker Bogie Mechanism

Project Title:
6-Wheel Rocker Bogie Rover with Arduino-Based RC Control

Objec ve:
The primary objec ve of this project is to design and develop a remotely controlled six-
wheeled robo c vehicle based on the rocker bogie mechanism. This system is intended to
demonstrate robust all-terrain mobility by u lizing six individual DC motors, controlled
wirelessly through an Arduino-based interface and a FlySky RC transmi er-receiver module.
The rocker bogie design ensures that the vehicle can maintain stability and trac on while
traversing highly uneven and rugged terrains, making it ideal for off-road applica ons. Due
to its mechanical configura on and motorized control, the vehicle can effec vely handle
surface irregulari es, large gaps, and obstacles, and can comfortably climb inclines of up to
45 degrees without compromising balance or control. This makes it a suitable prototype for
use in planetary explora on, search and rescue opera ons, and mobile robo cs experiments
in unpredictable environments.

Components Used:

Components Quan es Descrip on


Arduino UNO 1 Microcontroller board
L298N Motor Driver 2 Dual H-Bridge, 2A per channel
12V DC Geared Motors 6 3 motors per side
FlySky FS-i6 Transmi er 1 6-channel 2.4GHz RC controller
FlySky FS-iA6B Receiver 1 Provides PWM output to Arduino
Jumper Wires - Male-to-male and male-to-female connectors
12V Ba ery 1 Power source for motors and Arduino
Robot Chassis 1 Custom or commercial vehicle base

Working Principle:
The core opera on of this vehicle is based on integra ng a rocker bogie suspension system
with a wireless remote-control interface, enabling precise and stable movement across
uneven surfaces. The FlySky FS-i6 transmi er sends real- me control signals via 2.4GHz
frequency to its paired receiver (FS-iA6B), which outputs PWM signals corresponding to
thro le (CH2) and steering (CH1).
These signals are read by the Arduino UNO using its digital I/O pins, where pulse dura ons
are interpreted. Based on these inputs, the Arduino processes direc on logic and ac vates
the appropriate motor control outputs. Two L298N dual-channel motor driver modules are
used to control a total of six DC motors—three on each side of the chassis—allowing
synchronized le and right-side movement.
Each motor driver controls three motors in parallel, one for each wheel on a side, ensuring
uniform drive torque. When the thro le is increased, all motors rotate in the same direc on
to move the vehicle forward; reversing the signal drives the motors in the opposite direc on
for backward mo on. Steering is achieved by applying differen al speeds or reversing
direc on to one side of the vehicle while keeping the other side either sta onary or in
forward mo on, enabling smooth turns.

Combined with the mechanical adaptability of the rocker bogie structure, the system allows
the vehicle to navigate over obstacles, slopes, and irregular terrain with enhanced balance
and trac on.

Fig. 1. Schema c circuit diagram for Rocker Bogie Mechanism


Pin Configura on:

Signal Arduino Pin


CH1 (Steering - FlySky) D2
CH3 (Thro le - FlySky) D3
Le Motor IN1 D4
Le Motor IN2 D5
Right Motor IN3 D6
Right Motor IN4 D7

So ware Implementa on:


The Arduino UNO serves as the control hub, interpre ng PWM signals from the FlySky
receiver to operate the six-motor drive system. Channel 1 (steering) and Channel 3 (thro le)
are read using the pulseIn() func on, which measures the dura on of high pulses
corresponding to joys ck posi ons.
To prevent unintended movement due to signal noise, a dead zone is implemented around
the joys ck's center posi on. This ensures the vehicle stays idle when no significant input is
detected.
Based on the interpreted values, the code triggers specific movement func ons—forward,
backward, turning, or stop—by se ng the appropriate digital output pins connected to the
L298N motor drivers. Each movement func on sends logical HIGH/LOW signals to control
motor direc on on either side.
This modular and responsive so ware design enables smooth and accurate real- me control
of all six motors through the RC interface.

Code for Arduino UNO:


// FlySky Channels (Mode 2)
const int chThro lePin = 3; // CH3 (Thro le)
const int chSteeringPin = 2; // CH1 (Steering)

// Motor Driver Pins

// Le Rocker Motor Driver


const int le IN1 = 4;
const int le IN2 = 5;
const int le ENA = 6;

// Right Rocker Motor Driver


const int rightIN1 = 7;
const int rightIN2 = 8;
const int rightENA = 9;

// Bogie Motor Driver (controls both bogie wheels together)


const int bogieIN1 = 10;
const int bogieIN2 = 11;
const int bogieENA = 12;

void setup() {
pinMode(chThro lePin, INPUT);
pinMode(chSteeringPin, INPUT);

// Le Rocker
pinMode(le IN1, OUTPUT); pinMode(le IN2, OUTPUT); pinMode(le ENA, OUTPUT);
// Right Rocker
pinMode(rightIN1, OUTPUT); pinMode(rightIN2, OUTPUT); pinMode(rightENA, OUTPUT);
// Bogie
pinMode(bogieIN1, OUTPUT); pinMode(bogieIN2, OUTPUT); pinMode(bogieENA, OUTPUT);
}

void loop() {
// Read PWM signals from receiver
int thro lePWM = pulseIn(chThro lePin, HIGH, 25000); // CH3
int steeringPWM = pulseIn(chSteeringPin, HIGH, 25000); // CH1
// Constrain raw values

thro lePWM = constrain(thro lePWM, 1000, 2000);


steeringPWM = constrain(steeringPWM, 1000, 2000);

// Convert PWM (1000–2000) to -255 to 255


int thro le = map(thro lePWM, 1000, 2000, -255, 255);
int steering = map(steeringPWM, 1000, 2000, -255, 255);

// Calculate speeds for each driver


int le Speed = thro le + steering;
int rightSpeed = thro le - steering;
int bogieSpeed = thro le; // bogie only helps move forward/back

// Constrain all
le Speed = constrain(le Speed, -255, 255);
rightSpeed = constrain(rightSpeed, -255, 255);
bogieSpeed = constrain(bogieSpeed, -255, 255);

// Drive each motor group


driveMotor(le ENA, le IN1, le IN2, le Speed);
driveMotor(rightENA, rightIN1, rightIN2, rightSpeed);
driveMotor(bogieENA, bogieIN1, bogieIN2, bogieSpeed);
}

void driveMotor(int enPin, int in1, int in2, int speed) {


if (abs(speed) < 20) {
digitalWrite(in1, LOW);
digitalWrite(in2, LOW);
analogWrite(enPin, 0);
} else if (speed > 0) {

digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(enPin, speed);
} else {
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(enPin, -speed);
}
}

Applica ons:
1. Wireless robot pla orms
2. RC cars
3. Mo on control research
4. Vehicle dynamics tes ng
5. Swarm bot base

Conclusion:
This project successfully demonstrates a remote-controlled vehicle based on the rocker
bogie mechanism, capable of naviga ng uneven terrains with ease. Using Arduino, FlySky
RC, and dual motor drivers, the system achieves reliable control of six motors, making it a
robust pla orm for off-road mobility and future robo cs development.

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