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  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018
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Distributed Driving System For The Excavation Unit Of A Lunar Earthwarm-Type “Leavo” Excavation Robot

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Author
Fujiwara, Ami
Nakatake, Toyoharu
Tadami, Naoaki
Isaka, Keita
Yamada, Yasuyuki
Nakamura, Taro
Sawada, Hirotaka
Kubota, Takashi
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Abstract
The authors have developed a small excavation robot called the “LEAVO” for lunar exploration, and they have confirmed its usefulness as an excavation robot. They then attempted to add a curved excavation function in order for the LEAVO to increase its exploration field. To achieve this goal, it was necessary for the LEAVO’s excavation unit to transmit the motor output torque to the excavation head without any losses. In this paper, therefore, the authors proposed a new driving system called the “distributed driving system,” which reduced the transmission losses by distributing the actuators and arranging them in the frontal part of the robot. Moreover, the authors developed the prototype of this system and measured its output torque as an operational check.
URL
http://revistas.utp.ac.pa/index.php/memoutp/article/view/1995
URI
http://ridda2.utp.ac.pa/handle/123456789/5742
Collections
  • 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
License
info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/4.0/

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Recolectado por:

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Repositorio Institucional de Documentos Digitales de Acceso Abierto de la Universidad de Tecnológica de Panamá.
Este repositorio utiliza la Licencia CC BY-NC-SA y funciona bajo DSpace.

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