Abstract
In recent years, an increasing number of care recipients and a shortage of caregivers, by acceleration of declining birthrate and aging, are getting worse. From such social background, the application of the mechatronics technology was expected to reduce the burden on caregivers and the independence of the people requiring nursing care. Therefore, omni-directional moving system that operates intuitively by moving the centroid was developed by this research group. In this study, evaluated, the transient response characteristics and centroid acquisition accuracy of the centroid detection-type movement equipment were evaluated. In addition, the cancellation condition of the boarding standby state for safe boarding was considered. Assuming a load of 60 kg on this equipment, the servo system can be accurately controlled in the range of 2538 to 6345 rpm. At 60 kg load condition, the maximum error distance was only 49 mm. Therefore, the omni-directional mobile system can operate accurately. As the cancellation condition of the boarding standby state, the rest time is necessary to set to 2 sec or more. Moreover, when targeting senior citizens which have low dynamic balance, the rest time is necessary to set still time longer.
