719 Mobility of Flexible Mono-Tread Mobile Track

Kinugasa, Tetsuya; Haji, Takafumi; Yoshida, Kōji; Otani, Yuta; Osuka, Koichi; Amano, Hideharu

doi:10.1299/jsmecs.2008.46.269

Cited by 2 publications

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“…A spring and damper system is implemented to the joint. The prototype can flex about the two axes using a tendon mechanism by wire in a similar way of RT02 and RT03 [12].…”

Section: Design Strategymentioning

confidence: 99%

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Prototype “RT04” that uses flexible mono-tread mobile track

Kinugasa

Haji

Yoshida

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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It is expected that robotics is introduced into search and rescue activity, planetary explorer and investigation in extreme environment etc. The robots in such environment need high mobility against extremely rough terrain. Pressure exerted on the terrain is distributing wider, thus tracked vehicles are advantageous, accord ingly. Since it is difficult for usual tracked vehicle composed of a pair of tracks to change length/width ratio a lot from 111 because of its turning property, serially connected tracked vehicles and paddled tracked vehicles have been introduced in order to improve the mobility. We have proposed a tracked vehicle called flexible mono tread mobile track (FMT). The body of FMT except both side wall is completely wrapped around only by a track belt, which is possible to prevents sharp or thin edges of obstacle and cloth from penetrating. However the prototypes have rail colliding and derailing problems of the track belt caused by flexion and surface profile of the ground. The objective of the paper is, therefore, to develop a new prototype of FMT called RT04. RT04 adopts one degree of freedom rotational joint in stead of the flexible components and accurately designed guide rail system in order to prevent the belt from colliding or derailing.Rubber sponge grouser is also introduced against obstacle penetration and impact from the ground. Finally, some experimental tests validate the prototype.

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“…A spring and damper system is implemented to the joint. The prototype can flex about the two axes using a tendon mechanism by wire in a similar way of RT02 and RT03 [12].…”

Section: Design Strategymentioning

confidence: 99%

“…We have also proposed such a tracked vehicle called flexible mono-tread mobile track (FMT) [12]. FMT is mono track system and its body has vertebral structure composed of rigid segments (called vertebrae) connected by flexible segments (called intervertebral disks).…”

Section: Introductionmentioning

confidence: 99%

Prototype “RT04” that uses flexible mono-tread mobile track

Kinugasa

Haji

Yoshida

et al. 2011

2011 IEEE International Symposium on Safety, Security, and Rescue Robotics

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“…Serpentine tracked robots -i. e., articulated multi-tracked vehicles composed of several serially connected mono-tread [1], dual-tread [2], [3], [4], [5] or multi-tread [6], [7] tracked vehicles and steerable mono-tread tracked vehicles with bendable [8], [9], [10], [11], [12], [13], [14] or flexible [15] configuration in order to steer -are designed to move on rough terrains and are used for a variety of purposes, including search and rescue operations, planetary exploration, and environmental investigation. We have developed the flexible mono-tread tracked vehicle [15] and are trying to clarify the steerability under various conditions in order to control the vehicle.…”

Section: Introductionmentioning

confidence: 99%

“…We have developed the flexible mono-tread tracked vehicle [15] and are trying to clarify the steerability under various conditions in order to control the vehicle. We hereafter use the term "articulated multi-tracked vehicles" for all articulated tracked vehicles, including articulated monotread or dual-tread multi-tracked vehicles and steerable monotread tracked vehicles.…”

Section: Introductionmentioning

confidence: 99%

Steerability of articulated multi-tracked vehicles by flexed posture moving on slippery surface

Kinugasa

Yoshida

Haji

et al. 2013

2013 IEEE International Conference on Robotics and Automation

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Serpentine tracked robots -i. e., articulated multitracked vehicles -are designed to move on rough terrains and used for a variety of purposes, including search and rescue operations, planetary exploration and environmental investigations. The steerability of such vehicles depends on its posture and interaction between the vehicle and the ground. In previous research, kinematic models with slip information were derived for articulated multi-tracked vehicles. Such kinematic models, however, do not allow for the slippage of the vehicle that occurs when moving at a high speed or on a slippery surface. In this paper, we derive a dynamic model on which the frictional force is acting between the track shoes of each track of the vehicle and the ground for the slippery conditions. The frictional model neglecting static friction is given by a formula for the friction coefficient function proposed in the field of Teramechanics in order to mainly analyze slip behavior. The model is also used to analyze the steering properties, or steerability of the vehicles. I. INTRODUCTIONSerpentine tracked robots -i. e., articulated multi-tracked vehicles composed of several serially connected mono-tread [1], dual-tread [2], [3], [4], [5] or multi-tread [6], [7] tracked vehicles and steerable mono-tread tracked vehicles with bendable [8], [9], [10], [11], [12], [13], [14] or flexible [15] configuration in order to steer -are designed to move on rough terrains and are used for a variety of purposes, including search and rescue operations, planetary exploration, and environmental investigation. We have developed the flexible mono-tread tracked vehicle [15] and are trying to clarify the steerability under various conditions in order to control the vehicle. We hereafter use the term "articulated multi-tracked vehicles" for all articulated tracked vehicles, including articulated monotread or dual-tread multi-tracked vehicles and steerable monotread tracked vehicles. The steerability of articulated multitracked vehicles depends on their posture and interaction between track shoes and the ground. A mathematical model is needed to analyse the steerability and control the vehicle. Takeuchi [16] derived a kinematic model for an articulated dual-tread dual-tracked vehicle, which Isayama [17] expanded to allow for slippage. However the kinematic models are not useful for analysis of a tracked vehicle maneuvering at a high speed or moving on slippery surface, since the slippage varies depending on the interaction. This has given rise to the need for a dynamic model that takes into consideration

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719 Mobility of Flexible Mono-Tread Mobile Track

Cited by 2 publications

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Prototype “RT04” that uses flexible mono-tread mobile track

Prototype “RT04” that uses flexible mono-tread mobile track

Steerability of articulated multi-tracked vehicles by flexed posture moving on slippery surface

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719 Mobility of Flexible Mono-Tread Mobile Track

Cited by 2 publications

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Prototype &#x201C;RT04&#x201D; that uses flexible mono-tread mobile track

Prototype &#x201C;RT04&#x201D; that uses flexible mono-tread mobile track

Steerability of articulated multi-tracked vehicles by flexed posture moving on slippery surface

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Prototype “RT04” that uses flexible mono-tread mobile track

Prototype “RT04” that uses flexible mono-tread mobile track