Crawler vehicle with circular cross-section unit to realize sideways motion

Tadakuma, Kenjiro; Tadakuma, Riichiro; Nagatani, Keiji; Yoshida, Kazuya; Peters, Stephen C.; Udengaard, Martin; Iagnemma, Karl

doi:10.1109/iros.2008.4651223

Cited by 35 publications

(21 citation statements)

References 6 publications

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“…Sebuat robot dengan roda gerak berbentuk rantai track type dengan roller pasif yang dipasang disekeliling rantai telah diuji untuk melakukan pergerakan omnidirectional [15]. Suatu mekanisme crawler dengan rantai yang dirancang melintang memiliki kemampuan untuk bergerak maju dan kesamping tanpa berbelok [16]. Sebuah robot dengan tiga roda logam berbentuk bulatan pegas yang elastis dirancang untuk bergerak secara omnidirectional pada permukaan bebatuan [17].…”

Section: B Konsep Rancangan Awalunclassified

“…Persyaratan (2) tidak dapat dipenuhi oleh rancangan [15] dan [16] dikarenakan roller pasif dan crawler yang tebuat dari karet dapat dengan mudah tersumbat tanah dan lumpur sehingga menghambat putaran. Sedangkan pada persyaratan (3) tidak dapat dipenuhi oleh rancangan [16] dikarenakan robot yang dirancang tidak dapat melakukan pergerakan kearah diagonal. Persyaratan fungsional rancangan dipenuhi oleh rancangan [18].…”

Section: B Konsep Rancangan Awalunclassified

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Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Purbowaskito

2017

DINAREK

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Abstrak-Penggunaan UGV sebagai bagian dari otomasi disektor industri pertanian dilakukan secara intensif sebagai solusi dari masalah tenaga kerja dan produksi. Saat ini UGV yang dikembangkan pada sektor industri pertanian masih terbatas pada kemampuan bermanuvernya. UGV dengan kemampuan bermanuver yang tinggi dibutuhkan untuk melakukan beberapa pekertajaan pertanian dalam rangka untuk meningkatkan fisiensi produksi pertanian. Sehingga paper ini mengusulkan sebuah ide baru perancangan mekanik UGV untuk memperbaiki kemampuan bermanuver UGV. Paper ini menawarkan sebuah konsep perancangan mekanik untuk mendukung pergerakan omnidirectional sebagai kelebihan pergerakan UGV pada permukaan lahan pertanian. Suatu sistem steering independen dirancang pada UGV ini untuk mendukung mekanisme pergerakan omnidirectional. Sebelum proses pembuatan, konsep, rancangan, dan struktur UGV pertanian yang diusulkan dievaluasi menggunakan simulasi untuk memahami mengenai struktur rangka dan mekanisme geraknya. Pada penelitian ini, analisis struktur dan gerak dilakukan dengan menggunakan perangkat lunak computer aided design. Hasilnya menunjukan bahwa sistem steering yang dirancang dapat digunakan sebagai mekanisme kemudi untuk mendukung pergerakan omnidirectional. Kata kunci -Perancangan mekanik, unmanned ground vehicle, computer aided design, industri pertanian.Abstract-The usage of UGVs as part of automation in farm industry is done intensively as the solution of labor and production issues. The current developed UGVs for farm industry are still limited on its maneuverability. High maneuverability UGVs are required to do several agricultural jobs in order to enhance the agricultural production efficiency. So this paper proposes new idea of UGV mechanical design to improve the UGV menuverability. It offers a concept of mechanical design to support the omnidirectional motions as advantage of the UGV movement on the farm field surfaces. The independent steering system is designed in the proposed UGV to support the omnidirectional motion mechanism. Before the fabrication process the proposed concept, design, and structure of an agricultural UGV are evaluated in simulations to understand its frame structure and motion mechanism. In this study, the structural analysis and motion analysis are done by using computer aided design software. The results show that the proposed steering design can used as the steering mechanism to support omnidirectional motion.

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Section: B Konsep Rancangan Awalunclassified

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Purbowaskito

2017

DINAREK

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“…One of the goals of our design was to eliminate moving motors. In [15], the motor inside the tread must roll with the sideways motion, requiring a slip ring arrangement for wiring. Mechanical power is transmitted in our mechanism from two stationary motors through a differential drive arrangement.…”

Section: Combined Longitudinal/transverse Treadsmentioning

confidence: 99%

Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot

Voyles

Godzdanker

2008

2008 IEEE International Workshop on Safety, Security and Rescue Robotics

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Abstract-Holonomic behavior is desirable in the tight confines of a rubbled, collapsed-structure environment. But arbitrary motion is difficult to achieve, mechanically, particularly since treads are the most common form of locomotive device in search and rescue robots. We are developing a reconfigurable suite of locomotive modules that permit side-slipping locomotion. Initially designed as add-on modules to the TerminatorBot limbed crawler to create limb/tread hybrid robots, the modules can also be assembled with one another to produce holonomic differential drive robots, as well. This paper describes the design of a transverse tread module with unique buckling grousers that creates a tread/limb hybrid robot capable of both forward locomotion and transverse locomotion. Also described is a two-dimensional tread module that provides motive force in both the longitudinal and transverse directions. Two of these modules together in a differential drive configuration provides true holonomic capability. The addition of articulated linkages between modules provides holonomic serpentine behavior.

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“…Based on the same principle as that of the omni wheel, some omnidirectional wheel mechanisms have been developed, such as the Swedish wheel that has outer rollers arranged obliquely (Erland, 1974), an active omni wheel whose main body and outer rollers are both actively driven by using a differential gear mechanism (Komori et al, 2016), and an omnidirectional wheel with dual rings that are combined as a sphere driven by helical gears (Fujimoto et al, 2018). Another example that uses principles different from these mechanisms have also been developed: an omnidirectional vehicle in which the relative positions of the three wheels are variable (Terakawa et al, 2018), an omnidirectional vehicle that has caster type wheels with an offset between the steering axis and the ground contact point (Campion et al, 1996), and other various types of omnidirectional vehicles (Pin and Killough, 1994;West and Asada, 1995;Wada and Mori, 1997;Isoda et al, 1999;Yamashita et al, 2003;El-Shenawy et al, 2006;Mourioux et al, 2006;Tadakuma et al, 2008;Kumagai and Ochiai, 2008;Ren and Ma, 2015;Maeda and Ando, 2015;Masuda et al, 2017;Kato and Wada, 2018).…”

Section: Introductionmentioning

confidence: 99%

Human-powered vehicle capable of movement in the longitudinal and lateral directions

Kato

Komori

Terakawa

2020

JAMDSM

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Human-powered vehicles, especially conventional wheelchairs, are essential tools for people with lower body disability. But their movement in a lateral direction is limited or impossible, which burdens users who want to change directions, especially in a narrow space. Thus, a human-powered vehicle that can move in a lateral direction is required. To move in any direction, many motor-driven omnidirectional vehicles have been proposed, but humans cannot manually power their mechanisms. To solve this problem, we are developing a human-powered vehicle, that is, driven by hands of the rider, that can move in both the longitudinal and lateral directions. This paper proposes such a vehicle, which has a mechanism to move in the lateral direction like people can do while walking. We designed it so that riders can operate its mechanism by analyzing the space reachable by the rider's palms where they can effectively exert power. We constructed a prototype and conducted experiments to confirm that the vehicle moves as expected with relatively low effort. In the experiments, we confirmed the validity of vehicle operation by comparing the moving time of the vehicle with and without the lateral translation function for different travel distances and passage widths. Our results showed that the proposed vehicle moves more quickly or requires shorter moving distance in comparison with a conventional wheelchair because of the lateral movement function. In addition, we found that the threshold for utility of the function is whether the passage width is larger than the vehicle diagonal length.

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Crawler vehicle with circular cross-section unit to realize sideways motion

Cited by 35 publications

References 6 publications

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Pemodelan Konsep dan Rancangan Mekanik sebuah Purwarupa Unmanned Ground Vehicle untuk Pergerakan Omnidirectional

Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot

Human-powered vehicle capable of movement in the longitudinal and lateral directions

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