Tetrahedral Mobile Robot with Novel Ball Shape Wheel
Tetrahedral Mobile Robot with Novel Ball Shape Wheel
复制标题
新型球形轮四面体移动机器人
DOI：
10.1109/biorob.2006.1639213
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
K. Tadakuma
中科院分区：
文献类型：
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作者：
K. Tadakuma
本文提出了一种基本结构为四面体的移动的机器人作为搜救机器人应用的投掷机器人。四面体移动的机器人的本体位于整个结构的中心。产生推进力的驱动部件位于每个角落。作为一个驱动轮机构，我们已经开发了一个主动和两个被动旋转轴的“全球”，这是详细说明。通过一个实际的原型模型来说明这个概念，并进行初步的运动实验，通过这些实验来确认四面体移动的机器人的基本性能
In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the "Omni-Ball" with one active and two passive rotational axes, which are explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed