MODELING AND LATERAL MOVEMENT OF FLEXIBLE MONO-TREAD MOBILE TRACK (FMT)

摘要

In the past decade, search robots in rescue operations have been focused on and developed for the purpose of finding survivors trapped in the rubble of collapsed buildings. Most of them adopt serpentine mechanisms: they comprise of track-equipped segments that are connected by joints to obtain greater mobility in extremely complex environments. However, they might gather to catch debris between tracks or become stuck due to the mechanisms, in addition, increasing the number of segments would result in gaining weight and complicated control system. We have proposed a new mobile mechanism: flexible mono-tread mobile track (FMT), and developed a prototype "Rescue mobile track 10.2 (RT-02) WORMY," In the paper, a dynamic model for the FMT is derived and lateral movement, which is a typical side-winding movement of the FMT or snake like structure vehicle, is analyzed, simulated and experimented.