Study of machine design for a transformable shape single-tracked vehicle system

被引：26
作者：
Kim, Jeehong [1 ]
Lee, Changgoo [2 ]
Kim, Gunho [3 ]
机构：
[1] Chonbuk Natl Univ, Dept Control & Measurement Engn, Jeonju, South Korea
[2] Chonbuk Natl Univ, Div Elect Engn, Jeonju, South Korea
[3] Kunsan Natl Univ, Dept Power Syst Engn, Kunsan, South Korea
来源：
MECHANISM AND MACHINE THEORY | 2010年 / 45卷 / 08期
关键词：
VGTV; Tracked vehicle; Variable shape; Irrational equation; Length; Surmounting stairs;
D O I：
10.1016/j.mechmachtheory.2010.03.013
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A crawler wheel system equipped with an asymmetric variable shape single-track has been introduced for a tracked vehicle. Because the surrounding track length is changeable, previous research has not studied the asymmetric tracked wheel structure. Developing this asymmetric single-tracked wheel system requires analysis of the design elements, especially the variable configuration elements based on the length and rotation of the frame and the kinematical tension elements. The design objectives of an outdoor mobile robot wheel system require development of a driving mechanism that can handle rugged terrain. Utilization of a variety of shapes provides enhanced capability to surmount stair-like obstacles. In this paper, we analyzed the design parameters required to create variable track shapes and determined the specifications of the track system. (C) 2010 Elsevier Ltd. All rights reserved.
引用
收藏
页码：1082 / 1095
页数：14
相关论文
共 9 条
  • [1] MECHANICAL DESIGN OF VARIABLE CONFIGURATION TRACKED VEHICLE
    IWAMOTO, T
    YAMAMOTO, H
    [J]. JOURNAL OF MECHANICAL DESIGN, 1990, 112 (03) : 289 - 295
  • [2] JMARTENS JD, 1994, IEEE INT CONF ROBOT, P2501, DOI 10.1109/ROBOT.1994.351135
  • [3] KOHLER GW, 1976, P 24 C REM SYST TECH, P196
  • [4] Maeda Y., 1985, Proceedings of '85 International Conference on Advanced Robotics, P421
  • [5] PARK NE, 2005, KSME SPRING SEAS C, P859
  • [6] Schempf H, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P2315, DOI 10.1109/ROBOT.1999.770451
  • [7] Shah B., 2003, SURVEY URBAN SEARCH, P15213
  • [8] Physical design of dual-core system-on-chip
    Teng, ZW
    Liu, P
    Lai, LY
    [J]. PROCEEDINGS OF 2005 IEEE INTERNATIONAL WORKSHOP ON VLSI DESIGN AND VIDEO TECHNOLOGY, 2005, : 36 - 39
  • [9] Yoneda K, 1997, J ROBOTICS SOC JAPAN, V15, P1188
1