Distributed Driving System For The Excavation Unit Of A Lunar Earthwarm-Type “Leavo” Excavation Robot

Fujiwara, Ami; Nakatake, Toyoharu; Tadami, Naoaki; Isaka, Keita; Yamada, Yasuyuki; Nakamura, Taro; Sawada, Hirotaka; Kubota, Takashi

dc.contributor		es-ES
dc.creator	Fujiwara, Ami
dc.creator	Nakatake, Toyoharu
dc.creator	Tadami, Naoaki
dc.creator	Isaka, Keita
dc.creator	Yamada, Yasuyuki
dc.creator	Nakamura, Taro
dc.creator	Sawada, Hirotaka
dc.creator	Kubota, Takashi
dc.date	2018-09-01
dc.date.accessioned	2018-12-04T14:32:10Z
dc.date.available	2018-12-04T14:32:10Z
dc.identifier	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1995
dc.identifier.uri	http://ridda2.utp.ac.pa/handle/123456789/5742
dc.description	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.	es-ES
dc.format	application/pdf
dc.language	spa
dc.publisher	Universidad Tecnológica de Panamá	es-ES
dc.relation	http://revistas.utp.ac.pa/index.php/memoutp/article/view/1995/2931
dc.rights	info:eu-repo/semantics/openAccess
dc.rights	https://creativecommons.org/licenses/by-nc-sa/4.0/
dc.source	Memorias de Congresos UTP; 2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018; 361-368	es-ES
dc.title	Distributed Driving System For The Excavation Unit Of A Lunar Earthwarm-Type “Leavo” Excavation Robot	es-ES
dc.type	info:eu-repo/semantics/article
dc.type	info:eu-repo/semantics/publishedVersion

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2018: The 21st International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - CLAWAR 2018 [52]
CLAWAR 2018: 21st International Conference. Panama City, Panama during 10 – 12 September 2018.

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