Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot

Kenjiro Tadakuma, Matsumoto Masatsugu, Shigeo Hirose

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

3 Citations (Scopus)

Abstract

In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in. each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidiretional mobility with light weight.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4252-4259
Number of pages8
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Horizontal arm
  • Joint braking mechanism
  • Planetary rover
  • Underactuated arm

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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