Author:
Haji Takafumi, ,Kinugasa Tetsuya,Araki Shinichi,Hanada Daiki,Yoshida Koji,Amano Hisanori,Hayashi Ryota,Tokuda Kenichi,Iribe Masatsugu, , , , ,
Abstract
<div class=""abs_img""><img src=""[disp_template_path]/JRM/abst-image/00260004/08.jpg"" width=""300"" />Flexible mono-tread mobile track RT06</span></div> Robot technology is expected to be applicable to missions on rough terrain, such as rescue activities, environmental investigation, and planetary exploration. Tracked vehicles are effective in such environments because the contact pressure of the vehicle can be distributed more widely. To improve mobility, new mechanisms such as serpentine tracked vehicles have been proposed. We previously proposed the flexible mono-tread mobile track (FMT). The first prototype, WORMY, had a mechanical problem when it moves flexing, i.e., track belt interference and derailing. This paper proposes and confirms a new FMT design strategy using a layered structure to reduce space between vertebrae, solving derailing. A new prototype using the layered structure confirmed its mobility. We also used the prototype to evaluate the effectiveness of passive retro-flexion against obstacles. </span>
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
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