Top > JRM > Small Search Robot Consisting of Plural Driving Wheels Conn ...

single-rb.php

JRM Vol.26 No.4 pp. 469-476
doi: 10.20965/jrm.2014.p0469
(2014)

Paper:

Views over last 60 days: 979

Small Search Robot Consisting of Plural Driving Wheels Connected by Flexible Shafts

Ryota Hayashi*, Kenta Nicho*, Yong Yu*,
Tetsuya Kinugasa**, and Hisanori Amano***

*Graduate School of Science and Engineering, Kagoshima University, 1-21-40 Korimoto, Kagoshima 890-0065, Japan

**Department of Mechanical Systems Engineering, Okayama University of Science, 1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

***National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-Machi, Chofu, Tokyo 182-0012, Japan

Received:
February 20, 2014
Accepted:
June 18, 2014
Published:
August 20, 2014
Creative Commons License
Keywords:
rescue robot, flexible shaft, remote control, differential gear, search robot
Abstract
Search robot driven by flexible shafts
The small mobile search robot we proposed in a previous study is driven by a pair of flexible shafts and is used effectively for searching rubble to find victims, e.g., of an earthquake. The robot weighs relatively little because it does not have any power unit on it. It may be kept from moving forward, however, if the flexible shafts catch on obstacles. We propose a new small search robot consisting of plural driving wheels connected by flexible shafts. This robot drags the flexible shafts along the ground easily using driving wheels. We designed the robot to connect its driving wheels using a pair of flexible shafts. We consider a differential gear suitable for the drive transmission and confirm the robot’s propulsion and turning in experiments.
Cite this article as:
R. Hayashi, K. Nicho, Y. Yu, T. Kinugasa, and H. Amano, “Small Search Robot Consisting of Plural Driving Wheels Connected by Flexible Shafts,” J. Robot. Mechatron., Vol.26 No.4, pp. 469-476, 2014.
Data files:
References
  1. [1] T. Kinugasa, T. Akagi, T. Haji, K. Yoshida, H. Amano, R. Hayashi, M. Iribe, K. Tokuda, and K. Osuka, “Measurement System for Flexed Shape of Flexibly Articulated Mobile Track,” J. of Intelligent and Robotic Systems, Springer, Vol.75, Issue 1, pp. 87-100, 2013.
  2. [2] T. Kamegawa, R. Kuroki, M. Travers, and H. Choset, “Proposal of EARLI for the snake robot’s obstacle aided locomotion,” 2012 IEEE Int. Symposium on Safety, Security, and Rescue Robotics, pp. 1-6, 2012.
  3. [3] M. Arai, Y. Tanaka, S. Hirose, H. Kuwahara, and S. Tsukui, “Development of “Souryu-IV” and “Souryu-V”: Serially Connected Crawler Vehicles for in-Rubble Searching Operations,” J. of Field Robotics, Vol.25, No.1, pp. 31-65, 2008.
  4. [4] K. Tabata, A. Inaba, Q. Zhang, and H. Amano, “Development of a Transformational Mobile Robot to Search Victims under Debris and Rubbles,” IROS2004, CD-ROM, TA1-B3, 2004.
  5. [5] T. Oomichi, “Lessons of Nuclear Robot History,” J. of the Robotics Society of Japan, Vol.32, No.1, pp. 2-9, 2014 (in Japanese).
  6. [6] K. Nagatani, S. Kiribayashi, Y. Okada, S. Tadokoro, T. Nishimura, T. Yoshida, E. Koyanagi, and Y. Hada, “Redesign of Rescue Mobile Robot Quince,” 2011 IEEE Int. Symposium on Safety, Security, and Rescue Robotics, pp. 13-18, 2011.
  7. [7] S. Takahashi and T. Kaneda, “Development of a Search Robot for Rescue,” SICE System Integration Division Annual Conf. SI2002, Vol.1, pp. 59-60, 2002 (in Japanese).
  8. [8] S. Makita, F. Takemura, T. Doi, S. Tadokoro, and R. Tanaka, “Proposal Concerning Rescue Robots for Searching under Rubble (Mechanism of Locomotion and Test Course to Examine Their Ability,” SICE System Integration Division Annual Conf. SI2003, CD-ROM, 3j2-5, 2003 (in Japanese).
  9. [9] T. Doi, T. Sasahara, T. Kaneda, T. Umemoto, and Y. Yshitani, “Development of a Simple Search Device Driven by a Human-Powered Generator,” J. of Robotics and Mechatronics, Vol.17, No.3, pp. 342-351, 2005.
  10. [10] R. Hayashi, S. Tsujio, and Y. Yu, “Remote Control Mechanism for the Crawler-type Robot by use of Flexible Shafts,” J. of the Robotics Society of Japan, Vol.25, No.3, pp. 422-428, 2007 (in Japanese).
  11. [11] R. Hayashi, I. Nakamura, Y. Yu, and T. Kinugasa, H. Amano, “Torque Transfer Characteristics of the Flexible Shafts for Movement Mechanism of a Crawler-type Rescue Robot,” Proc. of SICE Annual Conf. 2010, pp. 1303-1306, 2010.
  12. [12] R. Hayashi, I. Nakamura, Y. Yu, H. Amano, and T. Kinugasa, “Design of Torque Transfer Mechanism for the Crawler-type Searching Robot Driven by Flexible Shafts,” J. of the Robotics Society of Japan, Vol.29, No.9, pp. 829-836, 2011 (in Japanese).
  13. [13] M. Arai and S. Hirose, “Development of Cable Reel for Spherical Trailer Uniform Cable Winding,” J. of Robotics and Mechatronics, Vol.20, No.4, pp. 533-540, 2008.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 24, 2025