A Development of Flexible Mono-tread mobile-Track with Center Drive

Abstract

In this paper, we propose the Flexible Mono-tread mobile-Track (FMT) with center drive. We suppose that we can apply FMT to robots used at disaster sites. However, the ordinary FMT is driven by DC motor at one side and have some problem. At first, we describe problems about conventional one and good point about center drive. Then, we propose the mechanism of center driving. Next, we propose new curving mechanism and show the experiments about it. New one is moved by servo motors. At last, we present new lead body. The lead body's deforming made our FMT be able to get over stairs without detailed control.