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Mechanical Design of Cylindrical Track for Sideways Motion
The University of Electro Communications, Japan.
AIST, Japan.
Tohoku University, Japan.
Tohoku University, Japan.
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2008 (English)In: IEEE ICMA 2008: proceedings of 2008 IEEE International Conference on Mechatronics and Automation : August 5-8, 2008, Takamatsu, Japan, Piscataway, N.J.: IEEE Robotics and Automation Society, 2008, p. 161-167Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented. © 2008 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Robotics and Automation Society, 2008. p. 161-167
Keyword [en]
Circular Cross-Section, Crawler, Mechanical Design, Pipe Inspection, Sideways Motion
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20771DOI: 10.1109/ICMA.2008.4798744ISI: 000267671500029Scopus ID: 2-s2.0-64949089696OAI: oai:DiVA.org:hh-20771DiVA, id: diva2:586728
Conference
2008 IEEE International Conference on Mechatronics and Automation, August 5-8, 2008, Takamatsu, Japan
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2018-03-22Bibliographically approved

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Iagnemma, Karl

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  • de-DE
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