Crawler Type Research Articles

Development of crawler type climber equipped with eddy current disk braked

Development of crawler type climber equipped with eddy current disk braked

Compound locomotion control system combining crawling and walking for multi-crawler multi-arm robot to adapt unstructured and unknown terrain

How to improve task performance and how to control a robot in extreme environments when just a few sensors can be used to obtain environmental information are two of the problems for disaster response robots (DRRs). Compared with conventional DRRs, multi-arm multi-flipper crawler type robot (MAMFR) have high mobility and task-execution capabilities. Because, crawler robots and quadruped robots have complementary advantages in locomotion, therefore we have the vision to combine both of these advantages in MAMFR. Usually, MAMFR (like four-arm four-flipper robot OCTOPUS) was designed for working in extreme environments such as that with heavy smoke and fog. Therefore it is a quite necessary requirement that DRR should have the ability to work in the situation even if vision and laser sensors are not available. To maximize terrains adaption ability, self-balancing capability, and obstacle getting over capability in unstructured disaster site, as well as reduce the difficulty of robot control, we proposed a semi-autonomous control system to realize this compound locomotion method for MAMFRs. In this control strategy, robot can explore the terrain and obtain basic information about the surrounding by its structure and internal sensors, such as encoder and inertial measurement unit. Except that control system also can recognize the relative positional relationship between robot and surrounding environment through its arms and crawlers state when robot moving. Because the control rules is simple but effective, and each part can adjust its own state automatically according to robot state and explored terrain, MRMFRs have better terrain adaptability and stability. Experimental results with a virtual reality simulator indicated that the designed control system significantly improved stability and mobility of robot in tasks, it also indicated that robot can adapt complex terrain when controlled by designed control system.

Multifunctional Robotic Crawler for Inspection of Suspension Bridge Hanger Cables: Mechanism Design and Performance Validation

This paper presents a robotic system, called multifunctional robotic crawler for cable INspection II, which is developed for inspection of hanger cables of suspension bridges. The robot can move over hanger cables and perform inspections with instruments such as cameras, nondestructive testing tools, etc. The novel mechanisms for the robotic system are proposed under the consideration of the environmental conditions of suspension bridges. Its driving mechanism adopts a crawler type one driven by brushless direct current motors, and the detachable adhesion tool ensures simple and quick installation procedures. The safe-landing mechanism for emergency situations guarantees the retrieval of the robot while preserving the safety of operators. This paper presents the robot system and its field test results under a super long-span suspension bridge, called Yeong-Jong Grand Bridge in South Korea. For practical applications, the real environmental conditions of a suspension bridge and the other fields where the robot can be applied are discussed.

Web Crawler : Review of Different Types of Web Crawler, Its Issues, Applications and Research Opportunities

Today's search engines are equipped with dedicated agents known as “web crawlers” keen to crawling large web contents online which are analyzed and indexed and make the content available to users. Crawlers act together with thousands of web servers over periods expanding from weeks to several years. These crawlers visits several thousands of pages every second, includes a high-performance fault manager, are platform independent or dependent and are able to get used to a wide range of configurations without including additional hardware. This paper is focused on prerequisites of crawler, process of crawling and different types of crawlers. This paper give review about some potential issues related to crawler, applications and research area of web crawler. Keywords: search engine, web crawler, www, Indexing, website analysis,

Development and Performance Evaluation of a Small Crawler Type Prototype Truck, Suitable for Central Leader Trained Satsuma Mandarin Trees

Development and Performance Evaluation of a Small Crawler Type Prototype Truck, Suitable for Central Leader Trained Satsuma Mandarin Trees

Design of a Micro Cable Tunnel Inspection Robot

As the ventilation system in cable tunnel is not perfect and the environment is closed, it is easy to accumulate toxic and harmful gas. It is a serious threat to the life safety of inspection staff. Therefore, a micro cable tunnel inspection robot is designed. The whole design plan mainly includes two parts: mechanical structure design and control system design. According to the functional requirements of the tunnel inspection robot, a wheel arm structure with crawler type is proposed. Some sensors are used to collect temperature, gas and image and transmit the information to the host computer in real time. The result shows the robot with crawler wheel arm structure has the advantages of small volume, quick action and high performance-price ratio. Besides, it has high obstacle crossing and avoidance ability and can adapt to a variety of complex cable tunnel environment.

障害接触時に対するサブクローラ回転角のコンプライアンス制御

This paper described about the compliance control of sub-crawler rotation angle for crawler type response robot when the obstacle contact it. The previous study proposed the semiautonomous control for the response robot with active sub-crawlers based on the compliance control. When it compared sequence to climb the step of the crawler robots with passive subcrawlers with the crawler robots with active sub-crawlers, it was confirmed that properties of the compliance were different. The dynamics of the sub-crawler rotation angle was modeled both sub-crawler characteristics and experimentation performed to confirm the compliance characteristics about the sequence for the climbing the step in this paper.

DEVELOPMENT AND EVALUATION OF TWO-PARALLEL CRAWLER ROBOT BY USING PROPORTIONAL CONTROLLER

Nowadays, the crawler type robots are widely used in rescuing and inspection missions. However, most of the existing crawler type robots available now are not moving consistently in one direction. This project aim on design and develop a crawler type robot which can pass through several types of terrain as well as to analyze and evaluate the performance of developed crawler type robot in term of its accuracy and repeatability by using Proportional (P) controller. Moreover, the terrains involved in this project are focused only on flat surface and rough surface respectively. The experiments are conducted in two methods which are lab test and field test. Lab test is conducted on flat surface while field test is conducted on rough surface. Then, the performance (accuracy and repeatability) of both experiments will be measured. As the results, the experiments which have been conducted on both methods by using Proportional (P) controller are implemented successfully.

1A1-V06 平行鉛直面スキャンを用いたクローラ型ロボットの階段下降の自動化

Crawler type robots equipped with flipper arms are used as many rescue robots because they have high traverse ability. However, in the case where complex operations such as ascending or descending stairs are required, this type of robot has to control flipper arms at the same time, so that the operation is very difficult. In the previous work, our group tried the automation of ascending stairs, but the automation of descending stairs was not achieved. It needs for the automation of descending the stairs to recognize the shape of the stairs and the posture of the robot, and to control the flipper arms based on such recognized information. In this paper, we propose a method for automating the motion of descending the stairs, and verify the usefulness of the proposed techniques through some experiments.

Study on the Design of Composite Transmission System for Crawler Type Full-Feeding Combine Harvester

Transmission system is an important part of combine harvester, and is the main indicator to measure the level of technology. This paper presents the design of a composite hydraulic mechanical transmission system for combine harvester. The system consists of engine, variable pump, quantitative hydraulic motor, planetary reducer, driving wheel, crawler etc. Author analyzes the continuous variable speed regulation characteristics of transmission; determines selection method of hydraulic components and mechanical parameters. Composite transmission system can make the engine is close to full load operation, improve combine harvester productivity and fuel economy. By optimizing the transmission system, combine harvester can reduce speed, increases the torque, realizes continuous variable speed. Practice has proved: this dynamic composite transmission system with fast response, high efficiency, and reliable, low failure rate. At the same time, combine harvester has the advantages of simple operation, forward, backward or turning without shifting, greatly reduce the labor intensity of the operator.

Research of Track-Type Full Feeding Combine Harvester Walking Design Scheme Based on Hydraulic Close System

Hydraulic technology is one of the key techniques of modern transmission and control. Closed type hydraulic power transmission system is weight ratio, fast action, easy to realize the advantages of flexible stepless speed regulation, flexible power transmission. In this paper, the closed hydraulic system of double bidirectional variable hydraulic pump and the bidirectional quantitative motor, the drive system for crawler type machinery, advantages, in the walking system design process can reasonable calculation and power matching, reasonable selection of power components, the universal value of engineering application.

Equipment for underground roadway drivage: Products and engineering from Neuhäuser GmbH

AbstractNeuhäuser GmbH has delivered products and components for a great variety of requirements for roadway drivage at underground mines for more than 50 years. The company's product range includes drilling systems and crawler type vehicles as well as rail systems. Neuhäuser offers comprehensive planning and independent engineering for all technical areas, including technical support, training and support of the projects.

2A1-A05 受動変形車輪を有する小型ローバの開発(車輪型/クローラ型移動ロボット(1))

With the risk to be the non-leveling of ground environment where there is fear of an aftershock and the debris collapse, and to bring second damage to help worker. It is thought that an unmanned system playing an active part as a human substitute in such an environment is necessary. As for the robot moving such non-leveling of ground environment, a variety of forms such as a wheel type, a crawler type, a leg type are thought about, but it is particularly important to put a robot of the one in the minimum size and mass when it is aimed for intelligence. However, with downsizing, the ability to travel across the debris generally decreases. Therefore if I pay my attention to obstacles less than a wheel diameter, andit is passive in this, and there is a wheel climbed over, I can expect improvement of the movement efficiency, and it is thought that it is useful for course choice. It is passive and develops the passive transformation wheel that an obstacle is got over assuming two small rovers to use for the in telligence in the disaster spot in this study.

Review of web crawlers

The web is a repository of large amount of data. Information available in the web is organised in the form of pages. Due to the presence of unlimited amount of information, searching and finding out appropriate information from the web is a task which needs expertise. Web crawlers are programmes that assist search engines by automating the task of visiting web pages and downloading their contents. They also help in ranking the downloaded web pages. Thus, the search engines can produce a list of web pages ordered by their relevance and can display this list as a result of the search. Crawling also helps to validate web pages, analyse them, notify about page-updation, visualise web pages and sometimes for collecting e-mail addresses for spam purposes. They can be of different types, each one using different strategies and techniques to crawl web pages. This paper presents a review of various types of web crawlers.

1P2-G05 マスタースレーブ制御による環境測定用アームの操作性評価(サーチ&レスキューロボット・メカトロニクス(2))

This paper describes the operability for a robot arm for purpose of the environmental measurement by using master-slave control system. The robot arm is mounted on the crawler type disaster response robot in this study. It is common knowledge that master-slave system has the intuitive operability, because the structure of master arm is the same structure as the slave arm. The evaluation method of the robot arm was performed by comparing with the master-slave and the gamepad in accordance with the manipulation task for obstacles in RoboCup Rescue. Form experimental results, we confirmed that the operator can be achieved the faster and steady achievement time by using master-slave control system for the manipulation task in disaster area.

2A1-A06 移動ロボットの凹凸地走行性能評価(車輪型/クローラ型移動ロボット(1))

A lot of mobile robots running the non-leveling of ground exist. However, it is difficult to evaluate the running performance of these mobile robots quantitatively. Because the reason brings a field experiment to the mainstream, this is because it is difficult to know the reply to topography performance of the body. In this paper, the experimental device added an irregularity to on a treadmill to evaluate the non-leveling of ground running performance of the mobile robot is introduced. As a result, It was succeeded in extracting reply to topography performance such as a wheel type, a crawler type mechanism.

2A2-D05 横方向に移動可能なウォームラック駆動 : 円筒状クローラユニットの開発(車輪型/クローラ型移動ロボット(2))

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 movement type robot, a robot in the shape of a snake, 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 are high efficiency and/or high ground-covering ability, they need comparatively large space to move. We have developed a cylindrical crawler unit based on worm-rack mechanism, that doesn't need large space to move and has high ground-covering ability. In this study, incorporating a mechanism that allows for lateral movement to the unit, this robot was realized movement, including the switching of the lateral movement and move back and forth. This report describes structure, driven mechanism, experimental evaluation are reported.

Development of ameba-inspired crawler mechanism using worm gear

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.

2A1-B03 マニピュレーション機能を有する飛行ロボット : 第4報:壁面への吸着方法(飛行ロボット・メカトロニクス(1))

This paper describes the development of a quadrotor with manipulation function. Up to the present time, wheeled and crawler type robot has been mainly utilized to approach into collapsed buildings. However, these type of robots are difficult to correspond to the unstructured terrain or climb up the ladder. In order to solve these problems, the flying robot which has manipulation function, has been proposed. In this report, a control method and mechanism to attach on the wall for quadrotor has been suggested and effectiveness of this approach has been experimentally verified.

1P2-F08 受動サブクローラーを有するクローラー型ロボットの可変角度拘束機構(サーチ&レスキューロボット・メカトロニクス(2))

This paper describes about variable angle restriction mechanism for the crawler robot with passive sub-crawler. Most crawler type robots for search and rescue have been adopted the active sub-crawler in order to traverse the rough terrain. However, the mobility of the robot depend on the skill of an operator due to the complicated operation. This study propose the crawler type robot with the passive sub-crawler. The angle of the passive sub-crawler must be restricted depending on road-surface condition. Experimentation results for the simple step and stair traverse demonstrated the efectiveness of the proposed variable angle restriction mechanism.