2P1-C14 横方向移動を可能にする円形断面クローラ : 基本概念の提案と第一次試作機の設計・開発(特殊移動ロボット) 2P1-C14 Crawler Mechanism with Circular Cross Section to Realize Sideling Motion : Basic Concept and the First Prototype Model
In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional Crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.
ロボティクス・メカトロニクス講演会講演概要集 2008(0), _2P1-C14_1-_2P1-C14_4, 2008