A New Steering Mechanism Using Noncircular Gears

抄録

This paper describes a new steering mechanism proposed by one of the authors(T.E.). This steering mechanism using noncircular gears has the capability of turning a carrier with a small radius. In order to facilitate the analysis of the steering mechanism, the concept of a virtual two-wheeled vehicle was introduced. As a result of analysis made by the other author (A.A.), it was proven that the noncircular gear for the steering mechanism is an elliptical gear of which the pitch curve can be represented by a simple equation. In addition, a method to apply this mechanism to wheeled robots, such as the carrier robots used in industrial production lines, was studied. It was confirmed that the concept of the virtual two-wheeled vehicle is very useful in the design of the steering mechanism.