JRM Vol.34 No.3 pp. 551-558
doi: 10.20965/jrm.2022.p0551

Development Report:

Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning

Junji Hirasawa, Shun Isobe, Yusuke Kuramochi, Mitsuhiro Nishino, and Yoshihisa Nihei

National Institute of Technology, Ibaraki College
866 Nakane, Hitachinaka-shi, Ibaraki 312-0011, Japan

December 3, 2021
February 21, 2022
June 20, 2022
tracked vehicle, moving robot, teleoperate, sensorless mechanism, robot contest

In this paper, we describe a prototypical crawler vehicle developed for “Hairo Sozo Robocon,” i.e., the 4th creative robot contest for decommissioning conducted in 2019. The rules of this robot contest required a high turning ability on a flat floor and high mobility through the inner space of a pipe. In addition, the robot needed to salvage objects from a floor placed 3.2 meters underneath itself. We developed a multi-articulated tracked vehicle to provide high mobility in both contexts. The vehicle was equipped with a sensorless salvaging bucket inspired by a traditional sampler sounding weight.

Outline of developed test vehicle “Debris Hunter I”

Outline of developed test vehicle “Debris Hunter I”

Cite this article as:
J. Hirasawa, S. Isobe, Y. Kuramochi, M. Nishino, and Y. Nihei, “Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning,” J. Robot. Mechatron., Vol.34 No.3, pp. 551-558, 2022.
Data files:
  1. [1] H. Kondo, K. Sato, and N. Sugiyama, “Practical Analysis of Turning Resistance of the Tracked Vehicle,” J. of the Japanese Society Agricultural Machinery, Vol.50, No.2, pp. 19-25, 1988 (in Japanese).
  2. [2] N. Ito, K. Kito, and J. Bai, “Evaluation of Turnability for Tracked Vehicle (Part 1) – Comparison Between Spin and Pivot Turn Systems –,” J. of the Japanese Society Agricultural Machinery, Vol.56, No.6, pp. 11-16, 1994 (in Japanese).
  3. [3] Desrial and N. Ito, “Theoretical Model for the Estimation of Turning Motion Resistance for the Tracked Vehicle,” J. of the Japanese Society Agricultural Machinery, Vol.61, No.6, pp. 169-178, 1999.
  4. [4] J. Hirasawa and T. Kimura, “Development of stair-climbing mechanism with passive crawlers (analysis of limitation for crawler rotation angle and test vehicle performance),” Trans. of the JSME, Vol.82, No.834, doi: 10.1299/transjsme.15-00357, 2016 (in Japanese).
  5. [5] J. Hirasawa, “Improvement of the Mobility on the Step-Field for a Stair Climbable Mobile Robot with Passive Crawlers,” J. Robot. Mechatron., Vol.32, No.4, pp. 780-788, 2020.
  6. [6] A. M. Bertetto and M. Ruggiu, “Low Cost Pipe-Crawling Pneumatic Robot,” J. Robot. Mechatron., Vol.14, No.4, pp. 400-407, 2002.
  7. [7] S. Wakimoto, K. Suzumori, M. Takata, and J. Nakajima, “In-Pipe Inspection Micro Robot Adaptable to Changes in Pipe Diameter,” J. Robot. Mechatron., Vol.15, No.6, pp. 609-615, 2003.
  8. [8] T. Yanagida, K. Adachi, and T. Nakamura, “Development of Bellows-Type Artificial Rubber Muscle and Application to Peristaltic Crawling Endoscopic Robot,” J. Robot. Mechatron., Vol.25, No.4, pp. 748-754, 2013.
  9. [9] T. Nishimura, A. Kakogawa, and S. Ma, “Improvement of a Screw Drive In-Pipe Robot with Pathway Selection Mechanism to Pass Through T-Branches,” J. Robot. Mechatron., Vol.25, No.2, pp. 340-346, 2013.
  10. [10] J. Yamakawa, K. Watanabe, T. Inagaki, M. Kitano, and H. Jozaki, “Turning Characteristics of Articulated Tracked Vehicles,” Trans. of the JSME, Vol.66, No.642, pp. 579-585, 2000 (in Japanese).
  11. [11] T. Yoshida, “Introduction of Quince,” J. of the Japan Society of Mechanical Engineers, Vol.117, No.1151, pp. 672-673, 2014 (in Japanese).
  12. [12] S. Kawatsuma, K. Nakai, Y. Suzuki, and T. Kase, “Irradiation Test of Semiconductors Components on the Shelf for Nuclear Robots Based on Fukushima Accidents,” QST Takasaki Annual Report 2015, p. 81, 2016.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jul. 19, 2024