Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes

Yu-Chun Fu; Edwardo F. Fukushima; Shigeo Hirose

doi:10.20965/jrm.2014.p0085

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JRM Vol.26 No.1 pp. 85-94

doi: 10.20965/jrm.2014.p0085

(2014)

Paper:

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Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes

Yu-Chun Fu, Edwardo F. Fukushima, and Shigeo Hirose

Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8550, Japan

Received:

October 21, 2013

Accepted:

December 18, 2013

Published:

February 20, 2014

Keywords:

propulsion, mobile robot, surface wave mechanism, RS-Wave, watertight

Abstract

This research proposes a new propulsion mechanism called “Surface Wave Mechanism.” The concept behind the SurfaceWave Mechanism – generating waves for propulsion – features a large propulsion area, no exposed infinite rotating shaft, and water- and dustproof attributes. The Surface Wave Mechanism is introduced, and three prototypes are designed and evaluated. Specifically, the cylindrical model, Rotary Surface Wave Mechanism PL-I, possesses a novel structure that generates propulsion throughout the cylindrical body using a single actuator, as detailed in the mechanical design and experiment results presented.

Cite this article as:

Y. Fu, E. Fukushima, and S. Hirose, “Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes,” J. Robot. Mechatron., Vol.26 No.1, pp. 85-94, 2014.

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References

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

[1] [1] K. Hatazaki, M. Konyo, K. Isaki, S. Tadokoro, and F. Takemura, “Active Scope Camera for Urban Search and Rescue,” Proc. of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2596-2602, 2007.

[2] [2] J. C.McKenna, D. J. Anhalt, F. M. Bronson, H. B. Brown, M. Schwerin, E. Shammas, and H. Choset, “Toroidal Skin Drive for Snake Robot Locomotion,” Proc. of the 2008 IEEE Int. Conf. on Robotics and Automation, pp. 1150-1155, 2008.

[3] [3] D. Koh, J. Yang, and S. Kim, “Centipede Robot for Uneven Terrain Exploration: Design and Experiment of the Flexible Biomimetic Robot Mechanism,” Proc. of the 2010 IEEE Int. Conf. on Biomedical Robotics and Biomechatronics, pp. 877-881, 2010.

[4] [4] M. J. Neumeyer and B. D. Jones, “The Marsh Screw Amphibian,” J. of Terramechanics, Vol.2, No.4, pp. 83-88, 1965.

[5] [5] K. Takahashi, Y. Goto, and T. Nakamura, “Development of the wall climbing robot using a Spiral style Wave transmission system move mechanism,” Proc. of the 2012 JSME Conf. on Robotics and Mechatronics, 2A1-O02, 2012.

[6] [6] S. Hirose, H. Ohno, T. Mitsui, and K. Suyama, “Design of In-Pipe Inspection Vehicles for 25, 50, 150 Pipes,” Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2309-2314, 1999.

[7] [7] H. Kimura, F. Kajimura, D. Maruyama, M. Koseki, and N. Inou, “Flexible Hermetically-Sealed Mobile Robot for Narrow Spaces Using Hydrostatic Skeleton Driving Mechanism,” Proc. of IEEE/RSJ IROS 2006, pp. 4006-4011, 2006.

[8] [8] H. Tsukagoshi, A. Kitagawa, M. Ito, K. Ooe, I. Kiryu, and T. Kochiya, “Bari-bari-II Jack-up Rescue Robot with Debris Opening Function,” IEEE Int. Conf. on Robotics and Automation, pp. 2209-2210, 2008.

[9] [9] H. G. Grimm, Jr., “Animated Toy,” US Patent 2,827,735, 1958.

[10] [10] L. L. Kramer, “Motor Operated Ambulatory Vehicle,” US Patent 3,331,463, 1967.

[11] [11] McKittric, Jr. et al., “Animated Toy,” US Patent 4,629,440, 1986.

[12] [12] R. D. Allen, “Multi-legged, Walking Toy Robot,” US Patent 5,423,708, 1995.

[13] [13] M. Ono and S. Kato, “A Study of an Earthworm type Inspection Robot Movable in Long Pipes,” Int. J. of Advanced Robotic Systems, Vol.7, No.1, pp. 085-090, 2010.

[14] [14] A. M. Bertetto andM. Ruggiu, “In-pipe inch-worm pneumatic flexible robot,” Proc. of IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics Proceedings, pp. 1226-1231, 2001.