Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot

Kenjiro Tadakuma; Matsumoto Masatsugu; Shigeo Hirose

doi:10.1109/IROS.2006.281953

Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot

Kenjiro Tadakuma, Matsumoto Masatsugu, Shigeo Hirose

Tough Cyberphysical AI Research Center (TCPAI)

Tokyo Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Citations (Scopus)

Abstract

In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in. each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidiretional mobility with light weight.

Original language	English
Title of host publication	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages	4252-4259
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2006.281953
Publication status	Published - 2006
Event	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China Duration: 2006 Oct 9 → 2006 Oct 15

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems

Conference

Conference	2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/Territory	China
City	Beijing
Period	06/10/9 → 06/10/15

Keywords

Horizontal arm
Joint braking mechanism
Planetary rover
Underactuated arm

Access to Document

10.1109/IROS.2006.281953

Cite this

Tadakuma, K., Masatsugu, M., & Hirose, S. (2006). Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 4252-4259). Article 4059080 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.281953

Tadakuma, Kenjiro ; Masatsugu, Matsumoto ; Hirose, Shigeo. / Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. pp. 4252-4259 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Mechanical design of joint braking and underactuated mechanism of {"}Tri-Star3{"}; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot",

abstract = "In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover {"}Tri-Star3{"} is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in. each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidiretional mobility with light weight.",

keywords = "Horizontal arm, Joint braking mechanism, Planetary rover, Underactuated arm",

author = "Kenjiro Tadakuma and Matsumoto Masatsugu and Shigeo Hirose",

year = "2006",

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language = "English",

isbn = "142440259X",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "4252--4259",

booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",

note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",

}

Tadakuma, K, Masatsugu, M & Hirose, S 2006, Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot. in 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006., 4059080, IEEE International Conference on Intelligent Robots and Systems, pp. 4252-4259, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006, Beijing, China, 06/10/9. https://doi.org/10.1109/IROS.2006.281953

Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot. / Tadakuma, Kenjiro; Masatsugu, Matsumoto; Hirose, Shigeo.
2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 4252-4259 4059080 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot

AU - Tadakuma, Kenjiro

AU - Masatsugu, Matsumoto

AU - Hirose, Shigeo

PY - 2006

Y1 - 2006

N2 - In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in. each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidiretional mobility with light weight.

AB - In this paper, a horizontal polyarticular expandable 3-wheeled planetary rover "Tri-Star3" is proposed. This expandable rover conjugates compact folded size with high stability on rough terrain. The design of braking mechanism in. each arm's joint is explained in detail. Through experiments, we confirmed the effectiveness of: (i) the underactuated braking mechanism with optimal shape cam and (ii) the underactuated motion of the arm-wheel module. By using this the proposed system achieves omnidiretional mobility with light weight.

KW - Horizontal arm

KW - Joint braking mechanism

KW - Planetary rover

KW - Underactuated arm

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M3 - Conference contribution

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SN - 9781424402595

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 4252

EP - 4259

BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006

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Tadakuma K, Masatsugu M, Hirose S. Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006. 2006. p. 4252-4259. 4059080. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2006.281953

Mechanical design of joint braking and underactuated mechanism of "Tri-Star3"; Horizontal polyarticular arm equipped 3-wheeled expandable mobile robot

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Keywords

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