Four track mobile robot for non structured environments

Author

Romiti, Ario ; Raparelli, Terenziano

Author_Institution

Dept. of Mech., Politecnico di Torino, Italy

fYear

1991

fDate

19-22 June 1991

Firstpage

926

Abstract

Concerns a mobile robot to work in hostile environments, for civil protection or handling of nuclear material, having four tracks that may pivot around the driving axles. All tracks have a driving function, but they are moved only by two motors, one at each side, that allows to simplify the actuation and control system. For this reason, it has been necessary to use a differential gear for driving each couple of tracks on each side. Clutches, brakes, and tilting of tracks are discussed. The robot weighs over 10000 N, and its drive motors each have a power of 1000 W. Its maximum speed is about 0.3 m/s. Steering is by running tracks at different speeds. The frame is meant to bear a payload of 3000 N.<>

Keywords

mobile robots; 0.3 m/s; 1 kW; 1000 kg; 300 kg; brakes; civil protection; clutches; differential gear; four-track mobile robot; hostile environments; nuclear material handling; steering nonstructured environments; track tilting; unstructured environments; Axles; Clamps; Control systems; Gears; Mobile robots; Power supplies; Radioactive materials; Springs; Vehicle driving; Waste materials;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240554

Filename

240554