全方向移動アクチュエータとパラレルメカニズムを用いた小形ロボットビークルの提案

抄録

Research and development have been carried out on small mobility robot vehicles called personal mobility vehicles (PMV) that use cutting-edge technologies such as robot posture control technology. In this research a new type of small robot vehicle using an omni-directional actuator and a tripod parallel mechanism has been proposed and designed. For the tripod parallel mechanism three actuators independently move to realize a cabin with a six degree-of-freedom motion platform. The ball driving type of the omni-directional actuator for the new type of the small robot vehicle has been proposed and developed. A three-tenths scale prototype model of the robot vehicle has been designed and prototyped. We investigated functions that keep the crew's posture absolutely horizontal even when the ground slopes during movement, and that allow the cabin posture to change significantly when getting on and off the vehicle. We experimentally verified the validity of four functions: movement, getting on and off, changing posture, and running on slopes.