1P1-D19 4輪バギー車を用いた環境調査ロボットの開発 : ワイヤ巻き取り式操舵装置の製作

概要

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The objective of this research is to develop an autonomous All Terrain Vehicle (ATV) for the environmental investigation. Environmental investigations are usually conducted by the manual labor, however the investigated fields tend to be very large. Therefore, the development of a mobile robot for the environmental investigation is desired. In this research, we develop a robot based on an ATV in order to save the development period and the labor. This paper addresses proposal and verification of a wire winding type steering system for the ATV. This mechanism is easily detachable and does not need big force. The experiments was performed to verify that the developed steering system can occur enough wire tension to steer the ATV. And, the steering torque and the steering velocity was examined from the experiments as well.
一般社団法人日本機械学会の論文