Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 06, 2021
Omni-directional movers have no restrictions on movement in a plane. Taking advantage of this characteristic, some manufacturers have sold forklifts that can move in all directions. However, the operation method of these vehicles differs among manufacturers, and a general operation method has not yet been established. Therefore, the purpose of this study is to develop an evaluation method for passenger omni-directional wheelchair that can compare and examine various possible operation methods in order to find a better operation method. First, the evaluation method of operability was examined. The evaluation criteria for operability vary depending on the purpose and use of the omni-directional mover. Even if we focus only on the operation elements, it is necessary to consider various things such as installation position, angle, and the relationship between input and output. Therefore, in this study, we examined a method to evaluate multiple operation methods for the operation of a wheelchair type omni-directional mover. Next, we constructed a common platform for the evaluation of operability. This is a four-wheel-drive, four-wheel-steering vehicle that can be ridden. The microcomputer calculates the angular velocity of the tires and the steering angle from the command values from the control elements and performs feedback control. We are currently working on the control program, and we will evaluate the operation of the omni-directional moving vehicle with a 3-axis joystick in the future. From the above, this study provides a basis for investigating the operation method of omni-directional mover.
