Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear  Wheels

Ryosuke Eto; Tomoaki Satomi; Hiroshi Takahashi

doi:10.20965/jrm.2012.p0933

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JRM Vol.24 No.6 pp. 933-938

doi: 10.20965/jrm.2012.p0933

(2012)

Paper:

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Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels

Ryosuke Eto, Tomoaki Satomi, and Hiroshi Takahashi

Department of Environmental Studies, Graduate School of Environmental Studies, Tohoku University, 6-6-02 Aramaki, Aoba, Sendai 980-8579, Japan

Received:

April 23, 2012

Accepted:

September 12, 2012

Published:

December 20, 2012

Keywords:

crawler, wheel, slip, kinematics, steering constraint condition

Abstract

Tracked vehicles are generally trucked to the field because they cannot move on the pavement. This operation is very slow and inefficient. To solve the problem, it is necessary to develop tracked vehicles that can move swiftly on both soft ground and pavement. Wheel-type tracked vehicles with crawlers in between the front and rear wheels can move swiftly using only the wheels on pavement and both wheels and crawlers on soft ground. However, such vehicles cannot turn on both wheels and crawlers. In this study, this steering constraint condition of the vehicle was analyzed with inverse kinematics. Using the obtained optimal conditions, numerical simulations and experiments were carried out. The vehicle’s turning performance was also shown to improve.

Cite this article as:

R. Eto, T. Satomi, and H. Takahashi, “Kinematics of Wheel-Type Tracked Vehicle with Crawlers in Between the Front and Rear Wheels,” J. Robot. Mechatron., Vol.24 No.6, pp. 933-938, 2012.

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References

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[5] S. Sarata, K. Tshubouchi, and S. Yuta, “Path Planning of Wheel Loader for Piled Ore Loading Operation,” Shigen-to-Sozai, Vol.112, No.8, pp. 531-536, 1996.
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[8] D. Endo, K. Nagatani, and K. Yoshida, “Improvement of Dead-Reckoning Accuracy of Crawler-Type Mobile Robot by Considering its Slippage,” The 24th Annual Conf. of the Robotics Society of Japan (CROM), 2G17, 2006.

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

[1] [1] M. Minamoto, K. Matshunaga, M. Shinohara, H. Kawasaki, and K. Yoshinaga, “Development of remote controlled for construction machine,” The Virtual Reality Society of Japan, Vol.7, No.1, pp. 9-14, 2002.

[2] [2] H. Sogo, H. Ito, M. Hasegawa, and M. Tamada, “Dynamic Behavior of Crawler-Type Vehicles (1st Report, The Theoretical Study on Straight Propelling),” The Japan Society of Mechanical Engineers Int. J., Series III, Vol.34, No.1, pp. 137-143, 1991.

[3] [3] E. Teramoto, Y. Yabe, and H. Nirei, “Evaluation of Running Performance of Manure Spreader with Four Wheels Drive and Intermediate Crawler Unit,” The Japanese Society for Terramechanics, Vol.30, pp. 39-43, 2009.

[4] [4] T. Tsukishima, “Study on General Theory of Kinematics and Dynamics ofWheeled Mobile Robots,” The Robotics Society of Japan, Vol.8, Issue 6, pp. 706-711, 1995.

[5] [5] S. Sarata, K. Tshubouchi, and S. Yuta, “Path Planning of Wheel Loader for Piled Ore Loading Operation,” Shigen-to-Sozai, Vol.112, No.8, pp. 531-536, 1996.

[6] [6] Y. Kanayama and N. Miyake, “Trajectry Generation for Mobile Robots,” The Third Int. Symposium of Robotics Research, Chapter 8, pp. 332-340, 1985.

[7] [7] M. Ahma di, V. Polotski, and R. Hurteau, “Path Tracking Control of Tracked Vehicles,” In Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2938-2943, 2000.

[8] [8] D. Endo, K. Nagatani, and K. Yoshida, “Improvement of Dead-Reckoning Accuracy of Crawler-Type Mobile Robot by Considering its Slippage,” The 24th Annual Conf. of the Robotics Society of Japan (CROM), 2G17, 2006.