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JRM Vol.26 No.3 pp. 341-348
doi: 10.20965/jrm.2014.p0341
(2014)

Paper:

Parameter Study of a Step-Climbing Machine for Heavy Load Carriers

Shinji Kajiwara

Faculty of Science and Engineering, Kindai University, 3-4-1 Kowakae, Higashiosaka, Osaka 577-8502, Japan

Received:
November 21, 2013
Accepted:
April 11, 2014
Published:
June 20, 2014
Keywords:
moving robot, multibody dynamics, stepclimbing, heavy load carrier, kinematics
Abstract

CAE model of heavy load carrier

This paper presents the development of a new stepclimbing mechanism for heavy load carriers. According to the method of measurement used, the results of experiments are given as the values of resistance and required driving force against a 10 mm step. The basic design of the proposed mechanism is illustrated, and a prototype is manufactured. Measuring impact acceleration using the prototype, we verify the accuracy of the mechanism CAE analysis. In addition, using the mechanism CAE analysis, we reveal the relationship between the angle, link length, and performance. Several experiments demonstrate that this prototype is able to drive over a 10 mm step, proving the effectiveness of the proposed mechanism.

Cite this article as:
S. Kajiwara, “Parameter Study of a Step-Climbing Machine for Heavy Load Carriers,” J. Robot. Mechatron., Vol.26, No.3, pp. 341-348, 2014.
Data files:
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Last updated on Nov. 12, 2018