TY - GEN
T1 - A fluid-actuated driving mechanism for rolling robots
AU - Tafrishi, Seyed Amir
AU - Esmaeilzadeh, Esmaeil
AU - Svinin, Mikhail
AU - Yamamoto, Motoji
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.
AB - There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.
UR - http://www.scopus.com/inward/record.url?scp=85073255105&partnerID=8YFLogxK
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U2 - 10.1109/ICARM.2019.8833646
DO - 10.1109/ICARM.2019.8833646
M3 - Conference contribution
AN - SCOPUS:85073255105
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 256
EP - 261
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -