2A2-D11 幾何学的完全解としてトロコイド曲線を実現する機械的回転機構の提案 : オムニホイールを用いない全方位移動機構

概要

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Trochoid is a complete solution in geometry for realizing omnidirectional mobility with rotating mechanism. Quasi-trochoid curve in previous works makes much friction loss. We propose a simple mechanism for geometrically complete trochoid as a novel omnidirectional translation mechanism. As a mechanism using conventional wheels, it can avoid the week point of omniwheel for bump. This is the most efficient type of omnidirectional mobile mechanism with steering conventional wheels. Like as helicopter blade mechanisms, the angle of the wheel is changed in a predetermined orientation. This mechanism is available to very wide range of mobile speed continuously. The axial symmetry of this mechanism is useful for indoor mobile robots.
一般社団法人日本機械学会の論文