On-Line Collision Avoidance of Two Comman-Based Industrial Robotics Arms Using Advanced Collision Map

This paper presents the development of a new stepclimbing mechanism for heavy load carriers. According to the method of measurement used, the results of experiments are given as the values of resistance and required driving force against a 10 mm step. The basic design of the proposed mechanism is illustrated, and a prototype is manufactured. Measuring impact acceleration using the prototype, we verify the accuracy of the mechanism CAE analysis. In addition, using the mechanism CAE analysis, we reveal the relationship between the angle, link length, and performance. Several experiments demonstrate that this prototype is able to drive over a 10 mm step, proving the effectiveness of the proposed mechanism.