能動サブアームを用いた連節クローラの踏破能力向上に関する研究

― 遊星歯車機構を用いたサブアームのなじみ動作 ―

抄録

The purpose of this study is to improve the traversability of the combined articulated crawler robot. We propose a new mechanism that enables the sub-arm to move in a position/force-tracking using a planetary gear mechanism. The output shaft torque enables Reduction of installed motors, Position/Force-tracking of a Sub-Arm, and Active movement of the Sub-Arm depending on the output shaft torque relationship. The purpose of this study is to improve the traversability of the combined articulated crawler robot. We propose a new mechanism that enables the sub-arm to move in a position/force-tracking using a planetary gear mechanism. The output shaft torque enables Reduction of installed motors, Position/Force-tracking of a Sub-Arm, and Active movement of the Sub-Arm depending on the output shaft torque relationship.