A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps

K. Tanaka, H. Ishii, D. Endo, J. Mitsuzuka, D. Kuroiwa, Y. Okamoto, Y. Miura, Q. Shi, S. Okabayashi, Y. Sugahara, A. Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

The objective of this study was to design a new model of wheel shape for increasing climbing ability of slopes and steps. We made a new model using a statics for calculating the ability easily and found that the arc-shaped notch type seems to be the best and implemented to our robot. In this paper, we introduce the detail of the proposed model and simulation results.

Original languageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages55-64
Number of pages10
DOIs
Publication statusPublished - 2016

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume569
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Keywords

  • Locomotion performance
  • Mobile robot
  • Wheel shape

ASJC Scopus subject areas

  • Modelling and Simulation
  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications

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