New Body Design for Flexible Mono-Tread Mobile Track: Layered Structure and Passive Retro-Flexion
Takafumi Haji*1, Tetsuya Kinugasa*2, Shinichi Araki*1,
Daiki Hanada*1, Koji Yoshida*2,Hisanori Amano*3,
Ryota Hayashi*4, Kenichi Tokuda*5, and Masatsugu Iribe*6
*1National Institute of Technology, Matsue College, 14-4 Nishiikuma-cho, Matsue, Shimane 690-0865, Japan
*2Okayama University of Science, 1-1 Ridai-cho Kita-ku, Okayama 700-0005, Japan
*3National Research Institute of Fire and Disaster, 4-35-3 Jindaiji-Higashi-machi, Chofu, Tokyo 182-8508, Japan
*4Kagoshima University, 1-21-24 Korimoto, Kagoshima 890-8580, Japan
*5Wakayama University, 930 Sakaedani, Wakayama-city 640-8510, Japan
*6Osaka Electro-Communication University, 18-8 Hatsucho, Neyagawa-shi, Osaka 572-8530, Japan
Robot technology is expected to be applicable to missions on rough terrain, such as rescue activities, environmental investigation, and planetary exploration. Tracked vehicles are effective in such environments because the contact pressure of the vehicle can be distributed more widely. To improve mobility, new mechanisms such as serpentine tracked vehicles have been proposed. We previously proposed the flexible mono-tread mobile track (FMT). The first prototype, WORMY, had a mechanical problem when it moves flexing, i.e., track belt interference and derailing. This paper proposes and confirms a new FMT design strategy using a layered structure to reduce space between vertebrae, solving derailing. A new prototype using the layered structure confirmed its mobility. We also used the prototype to evaluate the effectiveness of passive retro-flexion against obstacles.
-  Y. Tanaka et al., “Development of “Souryu-V” with Mono-Tread-Crawlers and Elastic-Rods Joint,” Proc. of SSRR 2006, TUE-AM1, 2006.
-  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.
-  M. Arai et al., “Development of “Souryu-III”: Connected Crawler Vehicle for Inspection inside Narrow and Winding Spaces,” Proc. of IROS2004, pp. 52-57, 2004.
-  M. Arai et al., “Development of “Souryu-IV” and “Souryu-V”: Serially Connected Crawler Vehicles for In-rubble Searching Operations,” J. of Field Robotics, Vol.25, No.1, pp. 31-65. 2008.
-  T. Kamegawa and F. Matsuno, “Development of a Remotecontrolled Double Headed Snake-like Rescue Robot KOHGA,” J. of RSJ, Vol.25, No.7, pp. 1074-1081, 2007.
-  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.
-  J. Borenstein and A. Borrell, “The OmniTread OT-4 serpentine robot,” Proc. of IEEE ICRA 2008, pp. 1766-1767, 2008.
-  H. E. Best, “Single Track Crawler Vehicle,” US Patent, No.3548962, 1970.
-  V. H. Ames, “Steering, Driving and Single Track Support Systems For Vehicles,” US Patent, No.3565198, 1971.
-  J. C. Stancy, Jr., “Terrain Vehicle Having a Single, Laterally Bendable Track,” US Patent, No.4453611, 1980.
-  N. Iwatsuka and K. Sadakane, “Flexible Mobile Robot,” Japan Patent, No.60-80573, 1985.
-  T. Fukuda et al., “A Study on Wall Surface Mobile Robots: 2nd Report,” Trans. of JSME, C, Vol.60, No.569, 1994.
-  H. Schempf, “Less is More: AURORA – an example of minimalist design for tracked locomotion,” R. A. Jarvis and A. Zemlinsky (Eds.), Robotics Research, Springer Verlag Berlin, pp. 453-465, 2003.
-  T. Kinugasa et al., “A Proposal of Flexible Mono-tread Mobile Track,” Proc. of IEEE/RSJ IROS 2008, pp. 1642-1647, 2008.
-  M. G. Bekker, “Introduction to Terrain Vehicle Systems,” University of Michigan Press Ann Arbor, 1969.
-  H. Kimura et al., “Development of ‘Genbu’: Active-Wheel Passive-Joint Articulated Snake-Like Robot,” J. of Japan Society for Design Eng., Vol.39, No.5, pp. 264-273, 2004.
-  I. N. Gruzdev, “Tanki-Teorya,” IKTM, Moscow, 1944.
-  Z. J. Janosi, “Obstacle Performance of Tracklayer Vehicles,” Proc. of the 2nd Conf. of the ISTVS, pp. 40-60, 1966.
-  M. Kitano et al., “Obstacle Surmounting Motion of Tracked Vehicles,” J. of the Japanese Society of Agricultural Machinery, Vol.56, No.2, pp. 23-31, 1994.
-  W. McBride et al., “Measurement and Prediction of the Off-Road Mobility of Small Robotic Ground Vehicles,” Proc of PerMIS2003, 2003.
-  T. Kinugasa et al., “Prototype “RT04” That Uses Flexible Mono-Tread Mobile Track,” Proc. of SSRR2011, pp. 86-91, 2011.
- [a] TPIP board.
http://www.sanritz.co.jp/products/dunit.php [Accessed July 31, 2014]
Supporting Online Materials: