Triangular Tracked Wheel locomotion mechanism

Triangular Tracked Wheel Amir H. Soltanzadeh [email_address] ME Dep @ IAUCTB A new hybrid locomotion mechanism for higher mobility

Acknowledgement ,[object Object],[object Object],[object Object],[object Object]

Motivation ,[object Object],Search To look through in a place or in an area carefully in order to find something missing or lost Rescue To free or deliver victim from confinement.

The Problem ,[object Object],[object Object],[object Object],[object Object],[object Object],Void:1’x2.5’x60’

Earlier Works ,[object Object],Space Cat Van Winnendael et al, EPFL (1998) Stair Climbing Vehicle J. Florystair, U.S. patents (1966) Passive Active

TTW ,[object Object],1. Moving tracks 2. Rotating triangular frames 2 DOF

Powertrain 4 TTW’s in a robot and 2 DOF in each TTW, does it mean 8 motors are required? 2 motors for tracks (both right, both left) 2 motors for triangular frames (both front, both rear) 4 motors are needed!

Locomotion Styles ,[object Object],Continuous (85%) Discrete (5%) Combined (10%) Discrete movement? Active (Position controlled)/Passive Active (velocity controlled) Active (velocity controlled) Velocity of CG periodically becomes 0 three times in a cycle and causes a “Stop-Go” movement style. Like a Four-legged robot!

Traction Management ,[object Object],Positive (70%) Negative (5%) Trans (10%) Maximum traction Tracked vehicle Climbing slopes Minimum traction Directional traction Wheeled vehicle Turning Traversing in stones To reduce power consumption of Joint Controlling System, Positive configuration is achieved in Passive mode.

Surface Adaptation ,[object Object],Lateral Adaptation Axial Adaptation To enhance traction without any processing load on control system Axial Adaptation can also be performed even in Active joint controlling!

Triangular Tracked Wheel locomotion mechanism

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Triangular Tracked Wheel locomotion mechanism