フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2022/11
形態種別	国際会議論文
査読	査読あり
標題	Proposal of Differential Planetary Gear Torque Splitting Mechanism for Driving the Flipper Arm and Sub-crawler of Tracked Robots
執筆形態	共著
掲載誌名	Proceedings of the Fourteenth Japan-China International Workshop on Information Technology and Control Applications
掲載区分	国外
出版社・発行元	Edited by Jinhua SHE, Yasuhiro OHYAMA, Weihua CAO, and Yuanqing XIA, School of Engineering Tokyo University of Technology
巻・号・頁	pp.243-248
総ページ数	6
担当区分	最終著者
著者・共著者	Daichi ARAI and Edwardo F. FUKUSHIMA
概要	In this paper the authors introduce a new mechanism that enables active drive of the flipper arm and sub-crawler of a tracked robot by using a single motor. The proposed mechanism exploits the differential motion property of a planetary gear, where the sun gear is connected to the driving motor, the ring gear to the flipper arm, and the planetary carrier to the sub-crawler. In this configuration the motor output torque is split between the flipper arm and the sub-crawler depending on their load. One of the design challenges, is to dimension the gear ratio to make the flipper arm able to follow the terrain irregularities while effectively driving the subcrawler. This paper introduces the mechanical design details and control methods of the proposed mechanism, which are verified by experiments using a small scale mechanical prototype.