Mobile mechanism suitable for rough terrain vehicle

作     者：Hoshino, H Ishikawa, A Fukuda, T Hasegawa, Y 

作者机构：Takenaka Corp Inst Res & Dev Inzai Chiba 2701395 Japan Nagoya Univ Dept Micro Syst Engn Chigusa Ku Nagoya Aichi 4648603 Japan Gifu Univ Dept Mech Syst Engn Fac Engn Gifu 5011193 Japan 

出 版 物：《JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING》 (JSME Int. J. Ser. C.)

年 卷 期：2004年第47卷第2期

页      面：646-652页

核心收录：

学科分类：08[工学] 080203[工学-机械设计及理论] 0802[工学-机械工程] 

主　　题：mechatronics and robotics hydraulic actuator construction machinery vehicle rough terrain suspension posture control 

摘      要：We propose an interconnected suspension mechanism that is applicable to rough terrain mobile robots for construction sites. All wheels can follow on uneven ground by moving mutually with an interconnected suspension mechanism. And, it is possible to control the posture of the robot simply using the mechanism. In this paper, the structural and mechanical characteristics of the mechanism are discussed and the ground contact loads of wheels are analyzed. It was confirmed the mechanism has enough ability for moving on an uneven floor and posture control through experiments with an experimental rough terrain moving robot.