1A1-M03 全方向移動型車椅子のための差動駆動操舵機構の開発(医療・福祉ロボティクス・メカトロニクス)

概要

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Great-mobility autonomous carriers that can be used in narrow environments, such as the automatic conveyance car currently used at factories and indoor-wheelchair, are highly demanded. Many mechanisms have been developed for achieving omnidirectional movement. However, even when the performance is high, these mechanisms suffer of many drawbacks. This paper presents a new type of omnidirectional mobile robot. Wheel using differential gear to drive and steer is proposed. The wheel is a system with high operability. Moreover, the output can be lowered by improving the rate of motor use. As for the wheel, holonomic movement is enabled by adding the offset between steering axle and wheel axle. The motion of the wheel was analyzed and the kinematics model required for control was developed.
一般社団法人日本機械学会の論文
2007-05-11