Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion

Guangping Lan; Shugen Ma

doi:10.20965/jrm.2006.p0556

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JRM Vol.18 No.5 pp. 556-563

doi: 10.20965/jrm.2006.p0556

(2006)

Paper:

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Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion

Guangping Lan^* and Shugen Ma^**

^*Department of Systems Engineering, Faculty of Engineering, Ibaraki University, 4-12-1 Nakanarusawa-Cho, Hitachi 316-8511, Japan

^**Organization for Promotion of the COE Program, Ritsumeikan University, 1-1-1 Noji Higashi, Kusatsu 525-8577, Japan

Received:

September 12, 2005

Accepted:

June 9, 2006

Published:

October 20, 2006

Keywords:

mobile robot, crawler mechanism, mechanical design, adaptability, quasi-static analysis

Abstract

The novel crawler-driven robot we designed used a planetary gear reducer as the major power transmission device and provides two types of output in different form using one actuator. The crawler mechanism switches between two outputs autonomously based on the terrain. Using this feature, the crawler-driven robot is expected to perform adaptably and effectively in irregular environments. We conducted 2-dimensional quasi-static analysis to explain the condition under which the robot performs some locomotion modes in an irregular environment. Experimental results showed that the crawler-driven robot moves over even ground and uses efficient locomotion modes or postures to adapt autonomously to irregular environments.

Cite this article as:

G. Lan and S. Ma, “Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion,” J. Robot. Mechatron., Vol.18 No.5, pp. 556-563, 2006.

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References

[1] K. Yoneda, Y. Ota, and S. Hirose, “Development of Hi-Grip Crawler using a Deformation of Powder,” J. of the Robotics Society of Japan, Vol.15, No.8, pp. 92-97, 1997 (in Japanese).
[2] H. Brown, J. M. V. Weghe, C. A. Bererton, and P. K. Khosla, “Millibot Train for Enhance Mobility,” IEEE/ASME Transactions on Mechatronics, Vol.7, Issue 4, pp. 452-461, December, 2002.
[3] T. Takayama and S. Hirose, “Development of Souryu I, II-Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 61-69, 2003.
[4] K. Osuka and H. Kitajima, “Development of Four-Crawler Multilink Mobile Robot MOIRA for Searching Debris,” J. of Robotics and Mechatronics, Vol.15, No.5, pp. 561-570, 2003.
[5] G. Grzegorz, M. G. Hansen, and B. Johann, “The OmniTread Serpentine Robot for Industrial Inspection and Surveillance,” International Journal on Industrial Robots, Special Issue on Mobile Robots, Vol.IR32-2, pp. 139-148, March 18, 2005.
[6] IRobot Co., website 2004,
http://www.packbot.com/
[7] L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, R. Maclachlan, C. Won, T. Frost, G.Sukhatme, M. McHenry, and S. Goldberg, “A Portable Autonomous Urban Reconnaissance Robot,” Proc. Int. Conf. on Intelligent Autonomous Systems, IOS Press, Venice, Italy, July 25-27, 2000.
[8] C. Kim, S. Yun, K. Park, C. Choi, and S. Kim, “Sensing system design and Torque analysis of a haptic operated climbing robot,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Sendai, Japan, Sept., 2004, pp. 1845-1848.
[9] J. Martens andW. Newman, “Stabilization of a mobile robot climbing stairs,” Proc. IEEE Int. Conf. on Robotics and Automation, San Diego, CA, USA, 1994, Vol.3, pp. 2501-2507.
[10] T. Iwamoto and H. Yamamoto, “Mechanism and Control of Transformable Crawler Vehicle with Active Adaptability to Terrain Variations,” J. of the Robotics Society of Japan, Vol.2, No.3, pp. 24-31, 1984 (in Japanese).
[11] S. Hirose, S. Aoki, and J. Miyake, “Design and Control of Quadru-Truck Crawler Vehicle HELIOS-II,” Proc. 8th RoManSy Symp., Cracow, Poland, 1990, pp. 1-10.
[12] G. Lan, S. Ma, and K. Inoue, “Development of A Novel Crawler For Irregular Terrain Access,” Proc. IEEE Int. Workshop on Safety, Security and Rescue Robotics, Kobe, Japan, June 6-9, 2005, pp. 42-47.
[13] G. Lan and S. Ma, “Step-Climbing Analysis of a Novel Tracked Robot,” Proc. IEEE Int. Conf. on Robotics and Biomimetics, Hong kong SAR and Macau SAR, China, June 29-July 3, 2005, pp. 544-549.

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

[1] [1] K. Yoneda, Y. Ota, and S. Hirose, “Development of Hi-Grip Crawler using a Deformation of Powder,” J. of the Robotics Society of Japan, Vol.15, No.8, pp. 92-97, 1997 (in Japanese).

[2] [2] H. Brown, J. M. V. Weghe, C. A. Bererton, and P. K. Khosla, “Millibot Train for Enhance Mobility,” IEEE/ASME Transactions on Mechatronics, Vol.7, Issue 4, pp. 452-461, December, 2002.

[3] [3] T. Takayama and S. Hirose, “Development of Souryu I, II-Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” J. of Robotics and Mechatronics, Vol.15, No.1, pp. 61-69, 2003.

[4] [4] K. Osuka and H. Kitajima, “Development of Four-Crawler Multilink Mobile Robot MOIRA for Searching Debris,” J. of Robotics and Mechatronics, Vol.15, No.5, pp. 561-570, 2003.

[5] [5] G. Grzegorz, M. G. Hansen, and B. Johann, “The OmniTread Serpentine Robot for Industrial Inspection and Surveillance,” International Journal on Industrial Robots, Special Issue on Mobile Robots, Vol.IR32-2, pp. 139-148, March 18, 2005.

[6] [6] IRobot Co., website 2004,
http://www.packbot.com/

[7] [7] L. Matthies, Y. Xiong, R. Hogg, D. Zhu, A. Rankin, B. Kennedy, M. Hebert, R. Maclachlan, C. Won, T. Frost, G.Sukhatme, M. McHenry, and S. Goldberg, “A Portable Autonomous Urban Reconnaissance Robot,” Proc. Int. Conf. on Intelligent Autonomous Systems, IOS Press, Venice, Italy, July 25-27, 2000.

[8] [8] C. Kim, S. Yun, K. Park, C. Choi, and S. Kim, “Sensing system design and Torque analysis of a haptic operated climbing robot,” Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, Sendai, Japan, Sept., 2004, pp. 1845-1848.

[9] [9] J. Martens andW. Newman, “Stabilization of a mobile robot climbing stairs,” Proc. IEEE Int. Conf. on Robotics and Automation, San Diego, CA, USA, 1994, Vol.3, pp. 2501-2507.

[10] [10] T. Iwamoto and H. Yamamoto, “Mechanism and Control of Transformable Crawler Vehicle with Active Adaptability to Terrain Variations,” J. of the Robotics Society of Japan, Vol.2, No.3, pp. 24-31, 1984 (in Japanese).

[11] [11] S. Hirose, S. Aoki, and J. Miyake, “Design and Control of Quadru-Truck Crawler Vehicle HELIOS-II,” Proc. 8th RoManSy Symp., Cracow, Poland, 1990, pp. 1-10.

[12] [12] G. Lan, S. Ma, and K. Inoue, “Development of A Novel Crawler For Irregular Terrain Access,” Proc. IEEE Int. Workshop on Safety, Security and Rescue Robotics, Kobe, Japan, June 6-9, 2005, pp. 42-47.

[13] [13] G. Lan and S. Ma, “Step-Climbing Analysis of a Novel Tracked Robot,” Proc. IEEE Int. Conf. on Robotics and Biomimetics, Hong kong SAR and Macau SAR, China, June 29-July 3, 2005, pp. 544-549.

Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion

Guangping Lan* and Shugen Ma**

Guangping Lan^* and Shugen Ma^**