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Maneuverability of Flexible Mono-tread Mobile Track(FMT)
Takafumii Haji,Tetsuya Kinugasa,Koji Yoshida,Hisanori Amano,Koichi Osuka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
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. However, they might gather to catch debris between tracks or become stuck due to the mechanisms. To get over the problems, a new mobile mechanism have been proposed: flexible mono-tread mobile track (FMT), and a prototype "Rescue mobile track No.2(RT-02) WORM" was developed. The machine is composed of a "flexible chain" and vertebral structure, the body flexes in 3D. As a result of the specific turning mechanism, steering performance of FMT is different from the usual differential-type tracked vehicle (DTV). The purpose of this paper si to show the maneuverability of FMT comparing with that of DTV through some experiments.