A compact crawler vehicle for mobile robot with high adaptability to terrain variations has been developed. This vehicle includes not only main and sub wheels, but planet wheels supported by articulated arms. Crawler tracks link the wheels. The shape of the crawler can be altered by changing the positions of the planet wheels, enabling the vehicle to pass over obstacles and go up and down stairways. The planet wheel must travel in an elliptical orbit in order to maintain the track tautness. This position control is achieved by a simple mechanism driven by a single motor.


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    Title :

    Transformable crawler mechanism with adaptability to terrain variations


    Additional title:

    Raupenwandelgetriebe mit Anpassung an Gelaendeaenderungen


    Contributors:
    Iwato, T. (author) / Yamamoto, H. (author) / Honma, K. (author)


    Publication date :

    1983


    Size :

    7 Seiten, 11 Bilder, 1 Tabelle, 2 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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