Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator-Reference-Cited by-同舟云学术

Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator

Published:2018-12-20 Issue:6 Volume:30 Page:900-909
ISSN:1883-8049
Container-title:Journal of Robotics and Mechatronics
language:en
Short-container-title:J. Robot. Mechatron.

Author:

Miyamoto Nobuhiko,Ando Noriaki,Wada Kazuyoshi, ,

Abstract

In this study, we aimed to develop a mobile robot that can move forward, turn, and move backward using one actuator. We previously proposed 1-DOF swing motion drive mechanisms for a mobile robot that uses linear actuators. This paper proposes a 1-DOF swing motion robot with a rotary actuator for realizing simple design and cost reduction. First, this paper describes a wheel posture switching mechanism. Next, we examine the dynamics modeling of a mobile robot and the wheel posture switching mechanism. Finally, the results are investigated through dynamic simulations to determine the forward-movement characteristics of the proposed mechanism.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Reference13 articles.

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