Development of a Jumping & Rolling Inspector to Improve the Debris-Traverse Ability

Autor:	Takahiro Tanaka, Hideyuki Tsukagoshi, Yotaro Mori, Masashi Sasaki, Ato Kitagawa
Rok vydání:	2004
Předmět:	Engineering Traverse business.industry Mechanical Engineering medicine.disease_cause Debris Industrial and Manufacturing Engineering Jumping Start point Mechanics of Materials Control theory medicine Jump Elasticity (economics) business Control methods
Zdroj:	TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C. 70:1068-1076
ISSN:	1884-8354 0387-5024
Popis:	The design and motion experiments of the newly constructed jumping & rolling inspector Leg-in-rotor-II are discussed. The features of Leg-in-rotor-II are as follows; (i) The driving method of 3-D jumping & rolling by the reduced degrees of freedom on the separated drive. (ii) The introduction of the passively stored leg. (iii) The introduction of the wheel with the light anisotropy elasticity of the high changing ratio. (iv) The pneumatic jumping control method and its energy saving. (v) The sensing method to estimate the desired jumping start point. (vi) The structure of the sideway tumble prevention and the shock buffer. Finally, the motion experiments of Leg-in-rotor-II to roll, jump and land on debris are shown and the validity of the introduced design methods is demonstrated.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::cf6f943562e2f492b3c3aa9f3af1b97b https://doi.org/10.1299/kikaic.70.1068 Zobrazit plný text záznamu