A fluid-actuated driving mechanism for rolling robots

Seyed Amir Tafrishi, Esmaeil Esmaeilzadeh, Mikhail Svinin, Motoji Yamamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

There are important issues in the design of the driving mechanism for the rolling robots. The actuator is expected to operate without occupying the whole space of the carrier body. This property gets harder to achieve as the degree of freedom in driving mechanism increases. This paper proposes an alternative fluid actuator for rolling bodies e.g., sphere or disc. The designed mechanism has a circular pipe that is propelled by rotating spherical mass (core) inside a fluid medium. In this work, we first establish the dynamics of the rolling circular pipe. Then, the internal driving unit is modeled and combined with rotating mass dynamics. Finally, the model simulations are conducted for observing motion patterns of the carrier body and locomotion abilities of the rotating core. The results show the feasibility of the proposed actuator for future applications.

Original languageEnglish
Title of host publication2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages256-261
Number of pages6
ISBN (Electronic)9781728100647
DOIs
Publication statusPublished - Jul 2019
Event4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, Japan
Duration: Jul 3 2019Jul 5 2019

Publication series

Name2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019

Conference

Conference4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Country/TerritoryJapan
CityOsaka
Period7/3/197/5/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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