Step Climbing of In-pipe Mobile Robot with Wheel Drive Mechanism using Planetary Gear Drive
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- MIYAGAWA Toyomi
- (株)東芝 研究開発センター
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- IWATSUKI Nobuyuki
- 東京工業大学 大学院理工学研究科
Bibliographic Information
- Other Title
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- 遊星歯車式管径追従車輪走行機構による小口径管内移動ロボットの段差走行
- ユウセイ ハグルマシキ カンケイ ツイジュウ シャリン ソウコウ キコウ ニ ヨル ショウコウケイ カンナイ イドウ ロボット ノ ダンサ ソウコウ
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Abstract
This paper describes the step climbing analysis of an in-pipe mobile robot using a wheel drive mechanism for a step existing between pipes with different diameters. The wheel mechanism can drive the wheels and also press them against the pipe wall using only a single actuator and a planetary gear drive mechanisms. The step climbing process is analyzed with the systematically calculating forward dynamics of planar mechanisms that considers the elasticity of the wheel. The calculated results were in agreement with the experimental data of the prototype robot, which is 45mm in diameter and 130mm length. The wheel mechanism can climb up steps when the contact positions of the sun gears and the planetary gears are before the contact position of the wheel and the steps.
Journal
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- Journal of the Japan Society for Precision Engineering
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Journal of the Japan Society for Precision Engineering 73 (7), 828-833, 2007
The Japan Society for Precision Engineering
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Details 詳細情報について
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- CRID
- 1390282679772639872
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- NII Article ID
- 110006342953
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- NII Book ID
- AN1003250X
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- ISSN
- 1882675X
- 09120289
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- NDL BIB ID
- 8890613
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed