地形自适应多用途履带车HELIOS-VI的设计

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2001-10-29 DOI:10.1109/IROS.2001.977198

S. Hirose, E. F. Fukushima, R. Damoto, H. Nakamoto

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引用次数: 65

摘要

我们正在开发“HELIOS”系列，用于越野车辆的平台和能够上下楼梯的电动轮椅。目前，我们正在开发一种无限旋转运动型地形自适应车辆“HELIOS-VI”，由2条履带推进。这辆车有两个连续可变变速器来改变运动的速度和方向。车辆还具有附加到主动履带的一个驱动滑轮的轴上的两个主动臂。其中一臂的尖端安装了两个被动轮胎，提高了车辆在崎岖地形中的地形适应性;另一只手臂携带有效载荷并调整有效载荷姿态。我们引入了一种可以动态改变负载姿态的结构。本文首先概述了HELIOS系列履带式车辆的发展历程，然后讨论了地形自适应履带式车辆HELIOS- vi的配置及其驱动机构的设计。

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Design of terrain adaptive versatile crawler vehicle HELIOS-VI

We are developing the "HELIOS" series, platforms for off-road vehicles and powered wheelchairs that are able to ascend and descend stairs. At present, we are developing an endless rotation locomotion type terrain adaptive vehicle "HELIOS-VI" that is propelled by 2 crawler belts. This vehicle has two continuously variable transmissions to change the velocity and direction of locomotion. The vehicle also has two active arms attached to the axis of the one drive pulley of the active crawler. One of the arms has two passive tires installed at its tip, and improves the vehicle's terrain adaptability in rough terrain; the other arm carries payload and adjusts payload posture. We introduced a structure that can change the posture of this load dynamically. This paper first outlines development process of the HELIOS series, and then discusses the configuration of terrain adaptive crawler vehicle HELIOS-VI and the design of its driving mechanism.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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