The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2016
Session ID : 2A2-08a2
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Crank Tether Thruster : A Thruster Mechanism for Teleoparated Robots
Hirotaka KOMURAShigeo HIROSEHiroya YAMADAGen ENDOKoichi SUZUMORI
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Abstract

The movable range of tethered teleoperated robot which has no cable reels is quite limitted since the cable generate large friction force with ground and obstacles. In this research, we will propose a novel system which consists of many thruster module, and supports teleoperated robot pulling its cable. As a prototype of this system, we developed ”Crank Tether Thruster”(CTT) modules which consist of crank wheel mechanism, tension sensors, and an accelerometer. As a result of comparative experiment pulling cable with / without CCT modules, it is confirmed that cable pulling tension became lower in both straight corridor and edge corner.

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© 2016 The Japan Society of Mechanical Engineers
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