ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-D05
会議情報
2A1-D05 弾性球体車輪を用いた不整地移動体の開発 : 段差踏破のための手法の提案と試作(車輪型/クローラ型移動ロボット(1))
石川 陽一青木 岳史島岡 瑞己
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会議録・要旨集 フリー

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抄録
Omni-directional mechanisms have various problems. For example, too large and heavy, difficult to absorb an external shock and to run on uneven terrain. thus, we have developed a light and small omni-directional robot "Eggbeater". Eggbeater has three globular metal spring wheels. The wheel can be applied to uneven terrain of outdoor environments. However, There is a limit to the running of the rough terrain of the Eggbeater. In this paper, we have developed a new Eggbeater with improved running ability in rough terrain. Eggbeater2 has four globular metal spring wheels composed 48 SMA (Shape Memory Alloy) wires.
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© 2014 一般社団法人 日本機械学会
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