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Improved Omni Tri-Crawler for robotic exploration
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

A robot with the purpose of utilizing so-called omnidirectional movement, movement in every direction, to conquer tough obstacles and rough terrain in order to conduct exploration and rescue missions has been developed at the Kaneko-Higashimori Laboratory at Osaka University, Japan. On account of the Japanese space agency JAXA it had now been requested to have an improved version of this so called Omni crawler developed, in order to further improve its terrain capabilites and even allow it to be thrown into an area and still resume its mission without getting stuck. In this project an improved variation of this model, called the Omni Tri-crawler, has been developed as a CAD model and a basic physical model, showing how a robot combining a unique type of tracks and a triangular shape could fulfill these requirements and look and behave.

Abstract [sv]

En robot som har som syfte att utnyttja så kallad omni directional movement, rörelse i alla riktningar, för att övervinna svåra hinder och terräng under utforsknings- och räddningsuppdrag har utvecklats vid Kaneko-Higashimori-laboratoriet vid Osaka University, Japan. På uppdrag av den japanska rymdstyrelsen JAXA önskades det nu att en förbättrad version av denna skulle tas fram, med ännu bättre terrängegenskaper och även förmåga att kunna kastas in i ett område och fortsätta sitt uppdrag utan att fastna. I detta projekt har en sådan förbättrad modell, kallad Omni Tri-crawler, tagits fram i form av en CAD modell och en grundläggande fysisk modell, vilka visar på hur en robot med en unik typ av larvfötter och en triangulär form skulle kunna se ut och prestera.

Place, publisher, year, edition, pages
2011. , 33 p.
Series
MMK 2011:46 IDE 078
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-177193OAI: oai:DiVA.org:kth-177193DiVA: diva2:871906
External cooperation
Osaka University
Supervisors
Examiners
Available from: 2015-11-25 Created: 2015-11-17 Last updated: 2016-08-19Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
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  • Other locale
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Output format
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