Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator
Nobuhiko Miyamoto*,**, Noriaki Ando*,**, and Kazuyoshi Wada*
*Graduate School of System Design, Tokyo Metropolitan University
6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan
**Robot Innovation Research Center, National Institute of Advanced Industrial Science and Technology (AIST)
Central 2, 1-1-1 Umezono, Tsukuba, Ibaraki 305-8568, Japan
In this study, we aimed to develop a mobile robot that can move forward, turn, and move backward using one actuator. We previously proposed 1-DOF swing motion drive mechanisms for a mobile robot that uses linear actuators. This paper proposes a 1-DOF swing motion robot with a rotary actuator for realizing simple design and cost reduction. First, this paper describes a wheel posture switching mechanism. Next, we examine the dynamics modeling of a mobile robot and the wheel posture switching mechanism. Finally, the results are investigated through dynamic simulations to determine the forward-movement characteristics of the proposed mechanism.
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