Design of a Mobile Robot based on Rocker-Bogie Mechanism for Exploration in Mines

Lugo-Figueroa A.; Baca-Rodriguez J.; Monacelli E.; Callupe-Luna J. · Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO (2025) · DOI: 10.1109/arso64737.2025.11124946

Resumen

Mining exploration requires robots to traverse unstructured environments with uneven terrain, loose soil, and steep inclines, posing substantial challenges to mobility. Although planetary rovers equipped with passive suspension systems such as the Rocker-Bogie have successfully navigated similarly rugged landscapes, conventional mining robots, often relying on tracked or wheeled mechanisms, can be prone to tipping and immobilization when confronted with obstacles and harsh conditions, also suffering mechanical stress and reduced stability due to frequent inclination shifts. Addressing the need to improve robot stability and adaptability in these complex mining terrains, this study investigates an alternative solution. Here we show that incorporating a Rocker-Bogie suspension into a mining robot significantly improves stability, traction, and adaptability, as demonstrated in simulations conducted on Gazebo. The Rocker-Bogie design reduces angular deviations and lateral oscillations compared with a Tracked System, enabling smoother motion over obstacle-laden terrain; it also maintains continuous ground contact and passively distributes weight to mitigate abrupt changes in orientation. These results underscore the potential for adopting Rocker-Bogie mechanisms to enhance safety and efficiency in both underground and open-pit mining. By applying proven concepts from space robotics, we highlight a promising path toward more robust and versatile mining exploration platforms; ultimately, leveraging advanced suspension systems may enable future robots to operate autonomously in even more extreme and hazardous environments, expanding the reach of mining activities and safeguarding human workers.

Instituciones: Universidad de Ingeniería y Tecnología