Basic running test of the cylindrical tracked vehicle with sideways mobility

Author(s)
Tadakuma, Kenjiro; Tadakuma, Riichiro; Nagatani, Keiji; Yoshida, Kazuya; Ming, Aigo; ... Show more
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Abstract
In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility 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. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.
Date issued
2009-12
URI
http://hdl.handle.net/1721.1/60873
Department
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Tadakuma, K. et al. “Basic running test of the cylindrical tracked vehicle with sideways mobility.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1679-1684. © Copyright 2009 IEEE
Version: Final published version
Other identifiers
INSPEC Accession Number: 11009680
ISBN
978-1-4244-3803-7
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