Tracked Vehicle with Circular Cross-Section to Realize Sideways Motion

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#Kenjiro Tadakuma #Riichiro Tadakuma # Keiji Nagatani #Kazuya Yoshida #Martin Udengaard #Karl Iagnemma #Aiguo Ming #Makoto Shimojo #Mechanism Design #Search and Rescue Robots #Field Robots #tracked mechanism #sideways motion #circular crosssection #active rolling axes #edgesink

A tracked mechanism for sideways motion is presented in this video. The tracked mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional tracked mechanisms can support massive loads, but cannot produce sideways motion. Previous crawler edges sink on soft ground, The proposed design solves these drawbacks by adopting a circular cross-section track. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments with a test vehicle are also presented.

A tracked mechanism for sideways motion is presented in this video. The tracked mechanism is of circular cross-section and has active rolling axes at the center of the circles. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.

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