Title: Development of ameba-inspired crawler mechanism using worm gear

Authors: Jun-ya Nagase; Koichi Suzumori; Norihiko Saga

Addresses: Department of Mechanical and Systems Engineering, Ryukoku University, 1-5 Yokotani, Seta-Oecho, Otsu, Shiga, Japan ' Department of Mechanical and Systems Engineering, Ryukoku University, 1-5 Yokotani, Seta-Oecho, Otsu, Shiga, Japan ' Department of Mechanical and Systems Engineering, Ryukoku University, 1-5 Yokotani, Seta-Oecho, Otsu, Shiga, Japan

Abstract: In Japan, since the great earthquake, attention has surrounded development of disaster victim relief activity using robots. Development of a robot that is adaptive to various environments in irregular places, rubble, and confined areas is needed. A wheel robot, a snake-like robot, a crawler type robot and a multi-leg robot are all described in the relevant literature as rescue robots that are currently studied. Although these robots have high efficiency and/or high ground-covering ability, they need comparatively large space to move. In this study, a cylindrical crawler robot based on worm-rack mechanism, which does not need large space to move and which has high ground-covering ability, is proposed. This report describes its structure, driven mechanism, design, prototype, and experimental evaluation.

Keywords: amoeba; tracked crawlers; worm-rack mechanisms; lateral motion; worm gears; disaster relief; victim relief; rescue robots; cylindrical robots; crawler robots; robot structure; drive mechanisms; robot design; robot prototypes; experimental evaluation; earthquakes; robot motion; emergency management.

DOI: 10.1504/IJBBR.2014.064944

International Journal of Biomechatronics and Biomedical Robotics, 2014 Vol.3 No.2, pp.92 - 99

Received: 08 May 2021
Accepted: 12 May 2021

Published online: 20 Sep 2014 *

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