Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot.
Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, Edo, Tōkyō, JapanDOI: 10.1109/IROS.2006.281953 Conference: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, October 9-15, 2006, Beijing, China
In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidirectional mobility with light weight
Conference Paper: Posture Analysis of a Dual-crawler-driven Robot[Show abstract] [Hide abstract]
ABSTRACT: This paper introduces a tracked robot composed of the proposed crawler mechanism, which uses a planetary gear reducer as the power transmission device and provides two types of output in different form with only one actuator. The robot that has two crawler modules can generate several postures by controlling cooperatively the two actuators. This tracked robot, which uses two actuators to give four outputs, however could have less realizable postures than that where outputs are given by the same number of actuators with the outputs. To find what postures can be generated by the introduced dual-crawler robot or all possible postures of this robot, the static analysis of the robot has been conducted and the possible postures are derived numerically in this paper.
Conference Paper: Posture control of a dual-crawler-driven robot[Show abstract] [Hide abstract]
ABSTRACT: This paper deals with a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is used as the power transmission device to give two different outputs with just one actuator. This under-actuated system could perform posture control through the interaction between the front and rear modules. On occasion, the posture that the front module is lifted up can make the robot overcome obstacles actively and easily. To find out the controllable postures, the static analysis of the robot has been conducted. In this paper, we provide the control strategy for performing the posture control, and propose the control methods including direct, indirect, and cooperative control to conduct the posture control. Experimental tests show the effectiveness of the control methods.
- [Show abstract] [Hide abstract]
ABSTRACT: This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The four-crawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively.
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