Flexible Mono-Tread Mobile Track (FMT)-A New Mobile Mechanism using Endless Track and Vertebrae Structure-

DOI Web Site 6 Citations 37 References

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Other Title
  • 柔軟全周囲クローラ（ＦＭＴ）―無限軌道と脊椎構造を用いた新しい移動機構―
  • ジュウナン ゼンシュウイ クローラ FMT ムゲン キドウ ト セキツイ コウゾウ オ モチイタ アタラシイ イドウ キコウ
  • — A New Mobile Mechanism using Endless Track and Vertebrae Structure —
  • — 無限軌道と脊椎構造を用いた新しい移動機構 —

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In the past decade, search type rescue robots have been focused on. Most robots took “linked mobile track” type such as snakes, so as to obtain high quality against unknown irregular surfaces. However the linked mobile track has some joints and sometimes they shut in some debris and stuck on it. In addition, many links increase total weight of robots and control complexity. In the paper, we propose a new type mobile mechanism, Flexible Mono-Tread Mobile Track (FMT) and develop a prototype called “Rescue mobile Track No.2 (RT02) WORMY”. The prototype consists of a flexible chain and a vertebrae like structure. Moreover, we investigate its performance against the irregular surfaces.

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