1A2-G18 Connected Two Units Crawlers to Realize Multiple Configurations : Consideration of the Connecting Mechanism with Double Jointed Configuration

• OHISHI Chigusa

  The University of Electro-Communications

• TADAKUMA Kenjiro

  The University of Electro-Communications

• TADAKUMA Riichiro

  Tokyo University

• NAGATANI Keiji

  Tohoku University

• YOSHIDA Kazuya

  Tohoku University

• MING Aiguo

  The University of Electro-Communications

• SHIMOJO Makoto

  The University of Electro-Communications

Bibliographic Information

Other Title

• 1A2-G18 形態可変機能を有する2車体連結クローラ : 連結機構における2重関節配置の検討

Abstract

This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the surface obstacles in the field, including such complicated structures like debris after disasters. In addition we analyzed the effect of the each axis arrangement in order to realized switching function to compose the four basic configurations more easily, and developed an actual prototype model.

Journal

• The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

  The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009 (0), _1A2-G18_1-_1A2-G18_4, 2009

  The Japan Society of Mechanical Engineers

Keywords

• Search and Rescue robot
• Connected Crawler
• Double joint mechanism
• Multiple configurations

Details

• CRID: 1390282680911713408
• NII Article ID: 110008698053
• DOI: 10.1299/jsmermd.2009._1a2-g18_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2009/0/2009__1A2-G18_1/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed