抄録
In the accident of a nuclear disaster or a biochemical terror, there is the need for robots which can work and collect information at the disaster site. This robot should have toughness and high mobility in a location of stairs and obstacles. In this study, we propose "crank-wheel" mechanism. In this mechanism, the coupler link is connected to front-rear wheel by revolute joints. The link produces movement similar to walking. "Crank-wheel" mechanism uses this movement for driving. This mechanism is simple, and in no danger of rolling up alien substances unlike crawler. It drives smoothly on the flat ground. It has high mobility on rough terrain by the coupler link movement. Effectiveness of this mechanism confirmed by driving experiments with the prototype.
