A modular crawler-driven robot: Mechanical design and preliminary experiments

Qiquan Quan, Shugen Ma
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This underactuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use
more » ... n robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The fourcrawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively. 978-1-4244-3804-4/09/$25.00 ©2009 IEEE
doi:10.1109/iros.2009.5354146 dblp:conf/iros/QuanM09 fatcat:chelcluiybcojjc3ulbfilot3y