論文ID: 2019.2882
Work in the fields of agriculture, forestry, civil engineering, and disaster relief requires the ability to move on irregular terrain including slopes, and a vehicle-type robot is required to achieve a certain payload. Since the vehicle has a stable movement function on the slope direction and contour line direction, it is possible to generate an arbitrary trajectory on uneven terrain, and the traveling work performance can be improved even in an environment where there are many objects such as obstacles to avoid. The purpose of our study is to establish a vehicle-type robot technology that can move in such an environment. We propose a vehicle-type robot that can move on side slope, which can move along the contour line, just like the switchback of a mountain railway. In order to secure an enough stability margin on the lower side of side slope, a 4-axis link mechanism was applied to the suspension mechanism of each wheel. Adapting on rough surface, couples of diagonal wheels are moved opposite direction with passive mechanism. In this paper, we will discuss the principle of mechanism, the mechanical design, the control, and the results of our experiments.
