This document details the hardware architecture of the Genesis rover.
The rover uses a triple bogie suspension system on each side, enabling high stability and smooth mobility over rough terrain. Each bogie can move independently, ensuring continuous wheel contact with uneven surfaces.
- Terrain Adaptability: Independent bogie movement keeps all wheels grounded, improving traction on rocks, slopes, and irregular surfaces.
- Even Load Distribution: Weight is shared across multiple wheels, reducing stress on individual components and increasing overall durability.
- High Slope Stability: The lowered center of mass and balanced weight distribution allow safe navigation on slopes up to 45°.
- Obstacle Handling: The suspension can climb small obstacles and traverse gaps without wheel lift or instability.
- Shock Absorption: The interconnected bogies naturally dampen shocks, protecting onboard electronics and extending component lifespan.
Two wheel designs were evaluated: a COTS (Commercial Off-The-Shelf) wheel and an in-house 3D-printed wheel.
A summary of their performance is shown below:
| Parameter | COTS Wheel | 3D-Printed Wheel |
|---|---|---|
| Diameter | 10 cm | 22 cm |
| Width | 4.4 cm | 6 cm |
| Rover Speed | 20 cm/s | 44 cm/s |
| Grousers | Small | Large |
| Grip | Handles slopes up to 50° | Handles slopes up to 30° |
| In-Place Rotation | Smooth | Wobbly (Due to large grousers) |
The table below shows a comprehensive list of all electronic components used.
| Component | Purpose / Function |
|---|---|
| 14.8 V 4-cell Lithium polymer battery | Supplies power to the motor drivers |
| 5V Power Bank | Powers the Jetson Nano |
| Power Distribution Board | Distributes electrical power from the main source to the motor drivers |
| Customised PCB | Ensures stable connections between sensors and controllers |
| Jetson Nano (Student Developer Kit) | Primary processing unit for obstacle detection, voice commands, DetectNet, live streaming |
| Arduino Mega 2560 | Handles PWM signals, processes sensor data, communicates with peripherals |
| BTS7960 Motor Driver | Controls the movement of six motors |
| Orange OG555 DC Motor | Drives the rover’s wheels for movement and navigation |
| Ublox Neo M8N GPS Module | Provides real-time geolocation data for navigation and path planning |
| HMC5883L Magnetometer | Determines rover heading and maintains accurate orientation |
| YD LiDAR (2D LiDAR Sensor – 360° Scanning, 8m Distance) | Captures depth information for obstacle detection in a 2D plane |
| Intel RealSense D415 Stereo Camera | Captures depth information for obstacle detection in a 3D sphere |
| PlayStation Eye Camera | Provides visual feed for data collection and monitoring |
| 3DR 433 MHz Radio Telemetry | Enables wireless communication |
| Wi-Fi Adapter | Facilitates remote communication with the rover |
| Bestor Microphone | Records audio for audio-based functionalities |
| Speaker | Outputs audio feedback |
The table below shows a comprehensive list of all structural components used.
| Component | Material / Design | Features |
|---|---|---|
| Chassis | High-quality acrylic held with L clamps | Durable and visually appealing design |
| Main Framework | 20×20 mm aluminum extrusions | Lightweight yet robust; maintains structural integrity while keeping weight manageable |
| Freely Moving Joints | Flanged ball bearings | Reduces friction and wear; allows smooth, efficient movement |
| Side Bogie Stability | Carbon fiber rods | High strength-to-weight ratio; reinforcement without added weight |
| Wheels | Durable COTF material (10 cm × 4 cm) | Ensures stability and smooth navigation across various terrains |
| Chassis Base | 5 mm MDF board | Adds strength and stability; reliable support for components |
| Side Bogie Construction | Mild steel | High strength and resistance to bending; improves slope-climbing capability |