DIY: Percevarence grass cutter
Introduction
Make a mower that resembles Percevarence: Six wheels with rocker-boogie suspension.
Designed for slow motion (10 cm/s).
Theory
Rocker-bogie
https://en.wikipedia.org/wiki/Rocker-bogie
The tension, forces on the single joint?
Differential Joint
The two rockers connect to each other and to the body through a differential. It keeps the body level. When one rocker goes up, the other rocker goes down, and the body angle is halfway between the angles of the two rockers.
Differential gearbox
Differential bar (linkage)
http://alicesastroinfo.com/2012/07/mars-rover-rocker-bogie-differential/
"Dynamic Rocker-Boogie"
Wheel motors
https://zjmy-lu.en.made-in-china.com/
No axle motors.
References
https://scholar.google.com/scholar?hl=en&as_sdt=0%2C5&q=rocker+bogie+mechanism+working+principle&btnG= First three (3) pages 2022.05.13.
https://studylib.net/doc/25318418/irjet-design-and-fabrication-of-rocker-bogie-mechanism-us... Design and Fabrication of Rocker Bogie Mechanism using Solar Energy. Rajat Murambikar, Vinay Omase, Vivek Nayak, Karan Patil, Prof. Yogesh Mahulkar.
Design Optimization of a Mars Rover’s Rocker-Bogie Mechanism using Genetic Algorithms. Franziska Ullrich, Ali Haydar Gokto ¨ gan, Salah Sukkarieh
ANALYSIS AND SIMULATION OF A ROCKER-BOGIE EXPLORATION ROVER Hervé Hacot, Steven Dubowsky, Philippe Bidaud2. https://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.33.9327&rep=rep1&type=pdf
Instrumented Rocker-Bogie Chassis Design and Net Traction Estimation. Timothy P. Setterfield. https://curve.carleton.ca/system/files/etd/e6ba9694-33ac-4a8d-8db1-ac548cce2220/etd_pdf/f176d20fd9fd9de537fea2656f5a39da/setterfield-instrumentedrockerbogiechassisdesignandnet.pdf
