2A1-F15 Development and Modeling of Double Spiral Propulsion Robot in Wetlands

Environmental problems related to wetlands have attracted strong concern around the world during past decades. Mobile mechanisms of many kinds have been developed to satisfy demands of environmental investigation of wetlands. However, few researchers have studied spiral propulsion mechanisms. Our previous work showed that the spiral can move forward between gaps of plants, giving only very slight damage to plants. It is introduced to be used to carry measurement devices in wetlands when investigating the current state of wetlands. This paper addresses the development and performance analysis of spiral driving units, which rotate the spiral by gripping its circumference and moving it forward or backward. A method to analyze the attitude angle and traveling distance of the spiral without a center axle is proposed. The kinematic relations between the driving unit and spiral are established on the premise of data from a motion capture system. Experimental results for driving units of two kinds are discussed, with emphasis on attitude stability, technical feasibility, and repeatability. Results show that the proposed driving units can drive the spiral to rotate forward along the desired direction as expected.

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“…A DSP mechanism (Liu, et al, 2010(Liu, et al, , 2011 consists of a platform, manipulators, and spirals, as shown in Fig. 1.…”

Section: Review Of a Dsp Mechanismmentioning

confidence: 99%

Driving unit design and motion analysis for a spiral propulsion mechanism in wetlands

Liu

Hanajima

Kawauchi

et al. 2014

Mechanical Engineering Journal

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“…( 6). pG can be obtained from the tip positions of the supporting manipulators as shown in the locomotion sequence ef the spirals and rnanipulators [2]. The tetal control systern of Fig.…”

Section: Kinematics Analysisofmanip"latormentioning

confidence: 99%

“…Unstructured environments are often harsh, dangerous, or inaccessible to humans, and thus motivate the use of robotic systems, A rebot designed for exploration of voleanic craters [1], robotics desigried in hazardous fields [5], and robotics in irregular terrains [6]. But there were few reports on spira1 propulsion mechanism, Spira1 prepulsion mechanism is a kind of mechanism based on the ceil-shaped spiral [2] [3]. Some research had been carried out on mobile-rnechanism based on screw which is similar to spiral propulsion mechanism.…”

Section: Introductionmentioning

confidence: 99%

2A2-L06 V-REP based dynamic simulation and analysis of a spiral -propulsion robot on wetlands(Mobile Robot with Special Mechanism)

et al. 2011

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The double-spira1-propulsion robot has been proposed to support field survey activities in wetlands. The robot consists of two pairs of spiral pipes and eight 4-DOF manipulaters whose grippers handle the spiral pipes. The kinematic relations among manipulater's components were cstablished through D-H method. The three-dimensional model of the manipulator is established in a dynamic simulation software. The process efthe manipulator gripping spiral is simulatcd. Thejoint pesition andjoint internal position error eurves are obtained. Those results shew that the proposed manipulator possesses high eontrollability The torque on x, M z-axis of revolute joint2 andjoint4 are also measured by torque sensers for detailed design in future work.

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2A1-F15 Development and Modeling of Double Spiral Propulsion Robot in Wetlands

Cited by 2 publications

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Driving unit design and motion analysis for a spiral propulsion mechanism in wetlands

Driving unit design and motion analysis for a spiral propulsion mechanism in wetlands

2A2-L06 V-REP based dynamic simulation and analysis of a spiral -propulsion robot on wetlands(Mobile Robot with Special Mechanism)

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