Top > JRM > Quasi-Static Analysis of a Novel Crawler-Driven Robot Motion

single-rb.php

JRM Vol.18 No.5 pp. 556-563
doi: 10.20965/jrm.2006.p0556
(2006)

Paper:

Views over last 60 days: 441

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
Creative Commons License
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.
Data files:
References
  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.

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

Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

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

Last updated on Dec. 06, 2024