The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2013
Session ID : 2P1-R04
Conference information
2P1-R04 Development of Worm-rack Driven Cylindrical Crawler Unit : Forward-and-backward and lateral motion using worm-rack mechanism(Wheeled Robot/Tracked Vehicle (3))
Jun-ya NAGASEYoshitaka SHIGEMOTOKoichi SUZUMORINorihiko SAGA
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract
In Japan, since the Great Earthquake, attention has surrounded development of disaster victim relief activity using robots. Development of a robot that is adaptive to various environments in irregular places, rubble, and confined areas is needed. A wheel movement type robot, a robot in the shape of a snake, a crawler type robot and a multi-leg robot are all described in the relevant literature as rescue robots that are currently studied. Although these robots are high efficiency and/or high ground-covering ability, they need comparatively large space to move. We have developed a cylindrical crawler unit based on worm-rack mechanism, that doesn't need large space to move and has high ground-covering ability. In this study, a novel crawler structure capable of moving laterally was developed. This report describes structure, driven mechanism, experimental evaluation are reported.
Content from these authors
© 2013 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top