屋外インフラ構造物点検用移動ロボットにおける全方位移動機構の振動評価

抄録

In recent years, the aging of underground infrastructures has made it necessary to inspect them efficiently. In order to improve the inspection efficiency of outdoor infrastructure facilities, an omni-directional mobile robot that can move freely in all directions has been investigated. We have measured the acceleration time response of omni-wheels, so as to investigate the effect of the vibration generated by the omni-directional movement mechanism. The acceleration characteristics due to the difference between the direction of movement and the speed of the omni-wheel have been evaluated. It was confirmed that periodic vibration occurred by each moving direction of the Omni wheel. When a moving direction was decided on run speed, we confirmed that the vibration input into all direction movement mechanism could be estimated