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From the figure above the yl/z = tan l and yr/z =tan r
Mg + Mg l = N1 (l + r)
Mg( + l ) = N1 (l +r)
Mg > N1
( + l ) < (l +r)
< r
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ROCKER BOGIE MECHANISM
Wheel Design
Velocity 8cm/s Velocity 10cm/s Velocity 12cm/s
100 = DN/60
DN=1909.86
D N Selected DN combination:
10 190.99 D = 70 mm
20 95.49 N = 27.28 rpm
30 63.66
40 47.75
50 38.2
60 31.83
70 27.28
80 23.87
90 21.22
100 19.1
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ROCKER BOGIE MECHANISM
2. Calculation of Wheel base
= 21.80
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ROCKER BOGIE MECHANISM
3. Length of Links
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ROCKER BOGIE MECHANISM
3. Length of Links
Therefore, NC = NB
NC2 + NB2 = BC2
BC2 = 2(NC)2 (1)
=2(165)2
=54450
Therefore, BC = 233.33mm
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ROCKER BOGIE MECHANISM
3. Length of Links (Contd)
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ROCKER BOGIE MECHANISM
4. Height Calculation:
5. Track Width
Tw = 513.86 mm
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ROCKER BOGIE MECHANISM
Calculation - 2
= 25.016
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ROCKER BOGIE MECHANISM
Calculation -2
Using same method used earlier dimension of the links is calculated for the stair
shown in previous slide.
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ROCKER BOGIE MECHANISM
Budget and Table of Requirements
S. No Item Qty Material Budget
2 Shaft 1 SS 100
4 Wheel 6 Plastic 35
Electrical purchase
1 Transformer 1 150
2 Rectifier 1 20
3 Control switches 2 80
4 PCB 2 50
Dimensions
Wheel Thickness 40mm
Wheel Diameter 70 mm
Height 185mm
Wheel Base 360mm
Track Width 400mm
SSF 1.08
Bogie Dimensions 140mm
Rocker Dimensions260mm
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