Flexible Hermetically-Sealed Mobile Robot for Narrow Spaces Using Hydrostatic Skeleton Driving Mechanism
Flexible Hermetically-Sealed Mobile Robot for Narrow Spaces Using Hydrostatic Skeleton Driving Mechanism
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DOI：
10.1109/iros.2006.281840
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发表时间：
2006-10
期刊：
影响因子：
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通讯作者：
H. Kimura;Fumihiro Kajimura;D. Maruyama;M. Koseki;N. Inou
中科院分区：
文献类型：
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作者：
H. Kimura;Fumihiro Kajimura;D. Maruyama;M. Koseki;N. Inou
传统的用于狭窄空间探测的移动的机器人，如救援机器人，几乎都采用履带或轮式机构。然而，在狭窄的空间中，这种机器人经常被卡住，因为机器人主体被夹在地形的两侧之间。特别是，使用正常的履带或车轮机构，不可能进入低于机器人高度的狭窄空间。此外，驱动轴的密封衬套由于旋转阻力而造成不可弥补的能量损失。为了解决这些问题，本研究提出了一种创新的柔性机器人与新的静液压骨骼驱动机构。该机器人的主要部件是具有环形结构的密封外壳和具有流体静力骨架的柔性履带，称为HS履带。这种新的机器人在狭窄的空间提供了显着的优势，如下所列：i）机器人可以改变其形状，以适应地形; ii）机器人的所有地面接触区域被驱动向同一方向。因此，即使地形比机器人的尺寸窄得多，机器人也能够穿透到狭窄的空间中，改变其形状。本文介绍了机器人的机构和HS履带的细节。通过仿真和实验的对比，讨论了HS履带的驱动力。第一个原型机器人的性能进行了验证的无线驱动和通过狭窄的空间。原型机器人可以通过300毫米高的空间，而机器人的普通高度是420毫米
Almost all of conventional mobile robots for narrow spaces exploration, e.g. rescue robots, adopt crawler or wheel mechanisms. However, in narrow spaces, such robot is often stuck because the robot body is sandwiched between both sides of a terrain. Especially, with normal crawler or wheel mechanisms, it is impossible to penetrate into narrow spaces lower than the height of the robot. In addition, sealing bushes of drive shaft cause unignorable energy loss because of rotational resistances. In order to solve these problems, this study proposes an innovative flexible robot with new hydrostatic skeleton driving mechanism. The main components of the robot are a hermetically-sealed outer cover with looped structure and flexible crawlers with hydrostatic skeleton named HS crawlers. This new robot provides remarkable advantages in narrow spaces as listed below: i) The robot can change its shape adapting to terrain; ii) All ground contact areas of the robot are driven toward the same direction. Thus, the robot is able to penetrate into narrow spaces changing its shape even if the terrain is rather narrower than the size of the robot. This paper describes the mechanisms of the robot and the detail of the HS crawler. Driving force of the HS crawler is discussed with comparison of simulation and experiment. Performance of first prototype robot is verified by experiments of wireless driving and passing narrow space. The prototype robot could pass through a space of 300 mm height, whereas the ordinary height of the robot is 420 mm