Mechanical design of cylindrical track for sideways motion

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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 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 languageEnglish
Title of host publicationProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Pages161-167
Number of pages7
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan
Duration: 2008 Aug 52008 Aug 8

Publication series

NameProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Other

Other2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
CountryJapan
CityTakamatsu
Period08/8/508/8/8

Keywords

  • Circular Cross-Section
  • Crawler
  • Mechanical Design
  • Pipe Inspection
  • Sideways Motion

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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