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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Qiquan Quan Shugen Ma Rongqiang Liu Bin Li |
| Copyright Year | 2009 |
| Description | Author affiliation: Department of Robotics, Ritsumeikan University, Japan (Qiquan Quan; Shugen Ma) || School of Mechatronics Engineering, Harbin Institute of Technology, China (Rongqiang Liu) || State Key Laboratory of Robotics, Shenyang Institute of Automation, China (Bin Li) |
| Abstract | This paper introduces a tracked robot that consists of the proposed crawler module, in which a planetary gear reducer is adopted as the power transmission device to give two different outputs with just one actuator. Compared with each module driven by two actuators, the module driven by just one actuator could perform a good impact absorption when a collision occurs with environment due to the fact that an output redundancy exists inside. To figure out what the advantage of our mechanism to the impact absorption is, impact analysis from the external components of the robot to its internal transmission parts is conducted and the results of impact effect to actuators in our mechanism are correspondingly derived in comparison with that in the conventional mechanism where each output is provided by one actuator. |
| Starting Page | 800 |
| Ending Page | 805 |
| File Size | 313769 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913102 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Absorption Actuators Crawlers Robotics and automation Switches Gears Tracking Mobile robots Parallel robots Control systems Polymorphic motion Crawler mechanism Impact analysis Tracked robot |
| Content Type | Text |
| Resource Type | Article |
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