Mechanical design of cylindrical track for sideways motion

Kenjiro Tadakuma; Riichiro Tadakuma; Hiroaki Kinoshita; Keiji Nagatani; Kazuya Yoshida; Martin Udengaard; Karl Iagnemma

doi:10.1109/ICMA.2008.4798744

Mechanical design of cylindrical track for sideways motion

Kenjiro Tadakuma, Riichiro Tadakuma, Hiroaki Kinoshita, Keiji Nagatani, Kazuya Yoshida, Martin Udengaard, Karl Iagnemma

New Industry Creation Hatchery Center (NICHe)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.

Original language	English
Title of host publication	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Pages	161-167
Number of pages	7
DOIs	https://doi.org/10.1109/ICMA.2008.4798744
Publication status	Published - 2008 Dec 1
Event	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan Duration: 2008 Aug 5 → 2008 Aug 8

Publication series

Name	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Other

Other	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Country/Territory	Japan
City	Takamatsu
Period	08/8/5 → 08/8/8

Keywords

Circular Cross-Section
Crawler
Mechanical Design
Pipe Inspection
Sideways Motion

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/ICMA.2008.4798744

Cite this

Tadakuma, K., Tadakuma, R., Kinoshita, H., Nagatani, K., Yoshida, K., Udengaard, M., & Iagnemma, K. (2008). Mechanical design of cylindrical track for sideways motion. In Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 (pp. 161-167). [4798744] (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008). https://doi.org/10.1109/ICMA.2008.4798744

Mechanical design of cylindrical track for sideways motion. / Tadakuma, Kenjiro; Tadakuma, Riichiro; Kinoshita, Hiroaki; Nagatani, Keiji; Yoshida, Kazuya; Udengaard, Martin; Iagnemma, Karl.

Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. p. 161-167 4798744 (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tadakuma, K, Tadakuma, R, Kinoshita, H, Nagatani, K, Yoshida, K, Udengaard, M & Iagnemma, K 2008, Mechanical design of cylindrical track for sideways motion. in Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008., 4798744, Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, pp. 161-167, 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, Takamatsu, Japan, 08/8/5. https://doi.org/10.1109/ICMA.2008.4798744

Tadakuma K, Tadakuma R, Kinoshita H, Nagatani K, Yoshida K, Udengaard M et al. Mechanical design of cylindrical track for sideways motion. In Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. p. 161-167. 4798744. (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008). https://doi.org/10.1109/ICMA.2008.4798744

Tadakuma, Kenjiro ; Tadakuma, Riichiro ; Kinoshita, Hiroaki ; Nagatani, Keiji ; Yoshida, Kazuya ; Udengaard, Martin ; Iagnemma, Karl. / Mechanical design of cylindrical track for sideways motion. Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. 2008. pp. 161-167 (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008).

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abstract = "In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.",

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AU - Udengaard, Martin

AU - Iagnemma, Karl

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AB - In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.

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Mechanical design of cylindrical track for sideways motion

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Keywords

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