MOBILE MECHANISM, MEMBER FOR MOBILE MECHANISM AND CONTROL METHOD FOR MOBILE MECHANISM

• US 20060269387A1
• Filed: 05/30/2006
• Published: 11/30/2006
• Est. Priority Date: 05/30/2005
• Status: Active Grant

• Current Assignee: Hiroaki Yamaguchi
• Original Assignee: Hiroaki Yamaguchi
• Inventors: YAMAGUCHI, Hiroaki
• Granted Patent: US 8,271,157 B2
• Time in Patent Office: Days
• US Class Current: 414/729
• CPC Class Codes: B08B 9/045 the cleaning devices being rotated while moved , e.g. flexible rotating shaft or "snake"B08B9/047 takes precedence
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/065 Snake robots
• CPC Class Codes: B25J 9/1625 Truss-manipulator for snake-like motion
• CPC Class Codes: B62D 57/00 Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track sledges B62B; motor sledges B62M
• CPC Class Codes: G05B 2219/40234 Snake arm, flexi-digit robotic manipulator, a hand at each end

Abstract

A steering mechanism is provided on an equilateral triangular base of a mobile mechanism, and three joints are attached to the base at the three vertexes thereof. Links are attached to the three joints respectively. On each link is provided a steering mechanism. The equilateral triangular base of the mobile mechanism is moved or rotated by periodically driving the three joints while steering the four steering mechanisms.

Claims

1. A member for use in a mobile mechanism, the member being attached as a component of the mobile mechanism in such a way that it can swing about a predetermined pivot axis, wherein a steering mechanism having a passive element that can be steered relative to said member about a steering axis extending in a direction intersecting the plane of swinging of said member is provided on said member.

2. A mobile mechanism comprising a plurality of members connected via joints and a steering mechanism provided on at least one of said plurality of members that enables steering of a passive element relative to a corresponding member, the mobile mechanism being at least moved or rotated by causing said plurality of members to swing about pivot axes provided by the joints.

3. A mobile mechanism according to claim 2 comprising at least one member on which said steering mechanism and said passive element are provided.

4. A mobile mechanism according to claim 2, wherein a passive element is provided on at least one member on which said steering mechanism is not provided.

7. A mobile mechanism according to claim 2 adapted to be controlled by a control method comprising arranging the mobile mechanism in such a way that a kinematic equation of the mobile mechanism can be converted into multi-chain, single-generator chained form, and controlling swinging of said members and steering of the passive element of said steering mechanism based on the multi-chain, single-generator chained form.

8. A mobile mechanism according to claim 2, comprising:

at least one joint provided on a base portion of the mobile mechanism;

a link member provided for each of said at least one joint and attached to said base portion by means of said at least one joint in such a way that it can swing about a pivot axis provided by said at least one joint, said pivot axis extending substantially parallel to each other;

a link portion steering mechanism provided for said link member, the link portion steering mechanism being adapted to be capable of steering, relative to said link member, the direction of turning of a passive wheel that constitutes a passive element of said link portion steering mechanism about a steering axis that extending in a direction intersecting the plane of swinging of said link member;

a link actuator that provides a drive force for causing said link member to swing relative to said base portion about a pivot axis provided by said joint; and

a link portion steering actuator that provides a drive force for steering the passive wheel of said link portion steering mechanism about said steering axis, wherein the mobile mechanism can at least be moved or rotated by driving said link actuator to cause said link member to swing and driving said link portion steering actuator to steer the passive wheel of said link portion steering mechanism.

9. A mobile mechanism according to claim 8, wherein a kinematic equation of the mobile mechanism is converted into multi-chain, single-generator chained form, and driving of said link actuator and said link portion steering actuator is controlled based on the multi-chain, single-generator chained form.

10. A mobile mechanism according to claim 8, further comprising:

a base portion steering mechanism provided on said base portion, the base portion steering mechanism being adapted to be capable of steering, relative to said base member, the direction of turning of a passive wheel that constitutes a passive element of said base portion steering mechanism about a steering axis that extending in a direction intersecting the plane of swinging of said link member; and

a base portion steering actuator that provides a drive force for steering the passive wheel of said base portion steering mechanism about said steering axis,

wherein said base portion steering actuator is driven to steer the passive wheel of said base portion steering mechanism.

11. A mobile mechanism according to claim 10, wherein a kinematic equation of the mobile mechanism is converted into multi-chain, single-generator chained form, and driving of said link actuator, said base portion steering actuator and said link portion steering actuator is controlled based on the multi-chain, single-generator chained form.

12. A mobile mechanism according to claim 2, wherein said plurality of members are caused to swing relative to each other at predetermined angular velocities and the passive element of said steering mechanism is steered at a predetermined angular velocity so that the mobile mechanism is at least moved along a predetermined path or rotated in a predetermined manner.

13. A mobile mechanism according to claim 2, further comprising control means for controlling swinging of said plurality of members and steering of the passive element of said steering mechanism.

14. A mobile mechanism according to claim 13, wherein said control means performs a feed forward control to cause said plurality of members to swing relative to each other at predetermined angular velocities and to steer the passive element of said steering mechanism at a predetermined angular velocity so that the mobile mechanism is at least moved along a predetermined path or rotated in a predetermined manner.

15. A mobile mechanism according to claim 13, wherein said control means performs a feedback control to correct said predetermined angular velocities based on the position and posture of the mobile mechanism, to cause said plurality of member to swing relative to each other and to steer the passive element of said steering mechanism based on angular velocities after the correction so that the mobile mechanism is at least moved along a predetermined path or rotated in a predetermined manner.

16. A mobile mechanism according to claim 3 wherein a passive element is provided on at least one member on which said steering mechanism is not provided.

17. A mobile mechanism according to claim 2 adapted to be controlled by a control method comprising:

assuming the presence of a virtual mechanical element attached to said mobile mechanism, the virtual mechanical element including at least one of a virtual joint, a virtual member, a virtual steering mechanism and a virtual passive element or a combination of them, whereby a kinematic equation of the mobile mechanism can be converted into multi-chain, single-generator chained form; and

controlling swinging of said members and steering of the passive element of said steering mechanism based on the multi-chain, single-generator chained form.

18. A mobile mechanism according to claim 14, wherein said control means performs a feedback control to correct said predetermined angular velocities based on the position and posture of the mobile mechanism, to cause said plurality of member to swing relative to each other and to steer the passive element of said steering mechanism based on angular velocities after the correction so that the mobile mechanism is at least moved along a predetermined path or rotated in a predetermined manner.

5. A control method for a mobile mechanism including a plurality of members connected via joints and a steering mechanism provided on at least one of said plurality of members that enables steering of a passive element relative to a corresponding member, the mobile mechanism being at least moved or rotated by causing said plurality of members to swing about pivot axes provided by the joints, the method comprising arranging the mobile mechanism in such a way that a kinematic equation of the mobile mechanism can be converted into multi-chain, single-generator chained form, and controlling swinging of said members and steering of the passive element of said steering mechanism based on the multi-chain, single-generator chained form.

6. A control method for a mobile mechanism including a plurality of members connected via joints and a steering mechanism provided on at least one of said plurality of members that enables steering of a passive element relative to a corresponding member, the mobile mechanism being at least moved or rotated by causing said plurality of members to swing about pivot axes provided by the joints, the method comprising:

assuming the presence of a virtual mechanical element attached to said mobile mechanism, the virtual mechanical element including at least one of a virtual joint, a virtual member, a virtual steering mechanism and a virtual passive element or a combination of them, whereby a kinematic equation of the mobile mechanism can be converted into multi-chain, single-generator chained form; and

controlling swinging of said members and steering of the passive element of said steering mechanism based on the multi-chain, single-generator chained form.