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
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.
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