2A2-P13 1つのモータで階段の昇降を実現する機構のトルク負荷と効率の検討(特殊移動ロボット(2))

DOI Web Site 被引用文献1件

書誌事項

タイトル別名
  • 2A2-P13 Investigation of torque and efficiency about a stair climbing mechanism that equips only one motor(Mobile Robot with Special Mechanism (2))
公開日
2013
DOI
  • 10.1299/jsmermd.2013._2a2-p13_1
公開者
一般社団法人 日本機械学会

説明

This paper describes a new mechanism that will realize a stair-climbing robot within small size. The mechanism was named "SMART" after the concept of this mechanism, "Simple Mechanism Adaptive for Rough Terrain". Some statical conditions to realize a low height mechanism that is driven by only one motor were derived. The prototype robot that equips a SMART mechanism had been designed and manufactured actually. Experimental results show that the estimated output torque is close to the measured torque. This paper describes the result of analysis of the mechanical efficiency.

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