日本ロボット学会誌
Online ISSN : 1884-7145
Print ISSN : 0289-1824
3自由度独立駆動型全方向移動ロボットの開発
淺間 一佐藤 雅俊嘉悦 早人尾崎 功一松元 明弘遠藤 勲
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ジャーナル フリー

1996 年 14 巻 2 号 p. 249-254

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A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.

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