618 不整地狭路のための独立操舵型移動機構

抄録

This paper describes a new type of a vehicle mechanism using in greenhouse. The feature of this vehicle mechanism is mechanism of front and rear steering and driving wheels. Both front wheels and rear wheels can be steered indipendently to the direction of the vehicle frame. And normal tires and steering system are used for front wheels and rotary crawler system is used for rear driving mechanism. This mechanism is useful for the passage in greenhouses where is very narrow and bad to move. Independent steering system is useful for turning in a narrow corner, and crawler is effective for moving on rough ground. In this paper, mechanism of the proposed vehicle is introduced, strategy of turning is proposed, and comparison with other type vehicle is shown.