A modular crawler-driven robot: Mechanical design and preliminary experiments

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	A modular crawler-driven robot: Mechanical design and preliminary experiments
	Quan, Qiquan; Ma SG(马书根)
	2009
会议名称	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期	October 11-15, 2009
会议地点	St Louis, MO, USA
页码	639-644
通讯作者	Quan, Qiquan
中文摘要	This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The four-crawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively.
收录类别	EI ; CPCI（ISTP）
产权排序	2
会议主办者	IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot
会议录	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISBN号	978-1-4244-3803-7
WOS记录号	WOS:000285372900112
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20039]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Quan, Qiquan,Ma SG. A modular crawler-driven robot: Mechanical design and preliminary experiments[C]. 见:2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009). St Louis, MO, USA. October 11-15, 2009.