A fluid-actuated driving mechanism for rolling robots

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

研究成果: 著書/レポートタイプへの貢献会議での発言

抄録

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.

元の言語英語
ホスト出版物のタイトル2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ256-261
ページ数6
ISBN(電子版)9781728100647
DOI
出版物ステータス出版済み - 7 2019
イベント4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 - Osaka, 日本
継続期間: 7 3 20197 5 2019

出版物シリーズ

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

会議

会議4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
日本
Osaka
期間7/3/197/5/19

Fingerprint

Actuator
Rotating
Actuators
Robot
Robots
Fluid
Fluids
Pipe
Locomotion
Simulation Model
Degree of freedom
Internal
Unit
Motion
Alternatives
Design

All Science Journal Classification (ASJC) codes

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

これを引用

Tafrishi, S. A., Esmaeilzadeh, E., Svinin, M., & Yamamoto, M. (2019). A fluid-actuated driving mechanism for rolling robots. : 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019 (pp. 256-261). [8833646] (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICARM.2019.8833646

A fluid-actuated driving mechanism for rolling robots. / Tafrishi, Seyed Amir; Esmaeilzadeh, Esmaeil; Svinin, Mikhail; Yamamoto, Motoji.

2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 256-261 8833646 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).

研究成果: 著書/レポートタイプへの貢献会議での発言

Tafrishi, SA, Esmaeilzadeh, E, Svinin, M & Yamamoto, M 2019, A fluid-actuated driving mechanism for rolling robots. : 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019., 8833646, 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Institute of Electrical and Electronics Engineers Inc., pp. 256-261, 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019, Osaka, 日本, 7/3/19. https://doi.org/10.1109/ICARM.2019.8833646
Tafrishi SA, Esmaeilzadeh E, Svinin M, Yamamoto M. A fluid-actuated driving mechanism for rolling robots. : 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 256-261. 8833646. (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019). https://doi.org/10.1109/ICARM.2019.8833646
Tafrishi, Seyed Amir ; Esmaeilzadeh, Esmaeil ; Svinin, Mikhail ; Yamamoto, Motoji. / A fluid-actuated driving mechanism for rolling robots. 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 256-261 (2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019).
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