Slope Running Experiment of a Transfer robot with Sub-crawlers

Abstract

There are forestry machines that aim to save manpower at forestry sites. However, forestry machines that carry out such work and transportation are basically used on well-maintained forest roads. There is a risk of falling due to slipping. To solve these problems, this research assumes that the robot runs on uneven ground such as rubble, and refers to crawler-type rescue robots that are being researched. The traveling mechanism of the transfer robot is a crawler, and a sub-crawler is attached to the front. By using this sub-crawler, we made a prototype of a small transportation robot that reduces the tilting angle of the vehicle body on a slope and prevents it from overturning.