四節リンク段差乗り越え機構を用いたクローラロボットの開発

抄録

This paper describes a mobile robot equipped with 4 bar linkage mechanism designed to climb step obstacles. To balance turning ability and step overcoming capability is the difficult problem to design a mobile robot. First, the high maneuverability of the multi-articulated crawler robot is confirmed through mechanical analysis. Next, an idea of applying 4 bar linkage to a passive crawler unit is confirmed. Finally, the effectiveness of the proposed mechanism is confirmed through an experiment with a prototype robot.