Title :
Mechanical Design of Joint Braking and Underactuated Mechanism of "Tri-Star3"; Horizontal Polyarticular Arm Equipped 3-Wheeled Expandable Mobile Robot
Author :
Tadakuma, Kenjiro ; Masatsugu, Matsumoto ; Hirose, Shigeo
Author_Institution :
Dept. of Mech. & Aerosp. Engneering, Tokyo Inst. of Technol.
Abstract :
In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in each arm\´s joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidirectional mobility with light weight
Keywords :
braking; manipulators; mobile robots; planetary rovers; stability; wheels; 3-wheeled expandable mobile robot; Tri-Star3; arm-wheel module; horizontal polyarticular arm; joint braking; rough terrain; stability; underactuated braking mechanism; underactuated mechanism; Actuators; Gears; Intelligent robots; Mars; Mobile robots; Planets; Shape; Stability; Vehicles; Wheels; Horizontal Arm; Joint Braking Mechanism; Planetary Rover; UnderActuated Arm;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281953
