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Browse Conference Publications > Robotics and Automation, 2004 ... Help

4R and 5R parallel mechanism mobile robots

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3 Author(s)
Yamawaki, T. ; Dept. of Mechano-Micro Eng., Tokyo Inst. of Technol., Kanagawa, Japan ; Omata, T. ; Mori, O.

We have proposed a self-reconfigurable parallel robot, which can be configured to 4R and 5R closed kinematic chains. This paper proposes a parallel mechanism mobile robot by mounting it on a crawler mechanism. The combined mobile robot gains some useful functionalities other than just locomotion as an advantage of its parallel mechanism, such as getting over a bump by controlling its center of gravity and carrying an object by making use of its shape. Furthermore, the robot can form three-dimensional structures with other such robots and reach a certain height which the single one cannot. We have developed two such robots that are self-contained. This paper analyzes the motions of the functionalities and verifies them experimentally using the robots.

Published in:
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:4 )

Date of Conference: April 26-May 1, 2004

Page(s):
3684 - 3689 Vol.4
ISSN :
1050-4729
Print ISBN:
0-7803-8232-3
INSPEC Accession Number:
8082502
Digital Object Identifier :
10.1109/ROBOT.2004.1308831
Product Type:
Conference Publications

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