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

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ROMANSY 21 - Robot Design, Dynamics and Control (ROMANSY21 2016)

Part of the book series: CISM International Centre for Mechanical Sciences ((CISM,volume 569))

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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.

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References

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Author information

Authors and Affiliations

  1. Department of Science and Engineering, Waseda University, Tokyo, Japan

    K. Tanaka, H. Ishii, D. Endo, J. Mitsuzuka, D. Kuroiwa, Y. Okamoto, Y. Miura & A. Takanishi

  2. Intelligent Robotics Institute and School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China

    Q. Shi

  3. Department of Fashion Sociology, Bunka Gakuen University, Tokyo, Japan

    S. Okabayashi

  4. Department of Mechanical Sciences and Engineering, Tokyo Institute of Technology, Tokyo, Japan

    Y. Sugahara

  5. Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan

    A. Takanishi

Authors
  1. K. Tanaka
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  2. H. Ishii
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  3. D. Endo
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  4. J. Mitsuzuka
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  5. D. Kuroiwa
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  6. Y. Okamoto
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  7. Y. Miura
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  8. Q. Shi
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  9. S. Okabayashi
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  10. Y. Sugahara
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  11. A. Takanishi
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Corresponding author

Correspondence to K. Tanaka .

Editor information

Editors and Affiliations

  1. Dept. of Industrial Engineering, University of Bologna Dept. of Industrial Engineering, Bologna, Italy

    Vincenzo Parenti-Castelli

  2. Inst. für Techn. Num. Mechanik, Universität Stuttgart Inst. für Techn. Num. Mechanik, Stuttgart, Germany

    Werner Schiehlen

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© 2016 CISM International Centre for Mechanical Sciences

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Tanaka, K. et al. (2016). A Study of a Wheel Shape for Increasing Climbing Ability of Slopes and Steps. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_7

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  • DOI: https://doi.org/10.1007/978-3-319-33714-2_7

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-33713-5

  • Online ISBN: 978-3-319-33714-2

  • eBook Packages: EngineeringEngineering (R0)

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