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JRM Vol.30 No.6 pp. 900-909
doi: 10.20965/jrm.2018.p0900
(2018)

Paper:

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

Received:
June 20, 2018
Accepted:
September 21, 2018
Published:
December 20, 2018
Keywords:
mobile robot, non-holonomic, dynamic simulation, drive mechanism, swing motion
Abstract
Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator

Image of 1-DOF swing motion propulsion mechanism

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.

Cite this article as:
N. Miyamoto, N. Ando, and K. Wada, “Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator,” J. Robot. Mechatron., Vol.30, No.6, pp. 900-909, 2018.
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Last updated on Dec. 05, 2019