The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2015
Session ID : 2P1-S01
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2P1-S01 Omnidirectional Driving Mechanism with Passive Crawler Unit
Kenjiro TADAKUMARiichiro Tadakuma
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Abstract
This paper describes the omnidirectional mobile mechanism with passive crawlers. The mechanism has two crawler unit, outer crawler unit and inner crawler unit. This mechanism has the the circular cross section to realize the smooth mobility to sideways and passive rollers work as a caster to the longitudinal direction of the unit. The prototype model is designed, and the driving configuration of the crawler unit with circular cross section was considered.
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© 2015 The Japan Society of Mechanical Engineers
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