1A2-G18 Connected Two Units Crawlers to Realize Multiple Configurations : Consideration of the Connecting Mechanism with Double Jointed Configuration

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  • 1A2-G18 形態可変機能を有する2車体連結クローラ : 連結機構における2重関節配置の検討

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This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the surface obstacles in the field, including such complicated structures like debris after disasters. In addition we analyzed the effect of the each axis arrangement in order to realized switching function to compose the four basic configurations more easily, and developed an actual prototype model.

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