抄録
While wheels and crawlers are applied widely to mobile robots, there are many unsuitable environments for traveling robots. Mecanum wheels have been applied to omni-directional mechanisms and they can work well even in narrow places. It has been thought that Mecanum wheels are unsuitable for traveling on uneven or soft grounds. But there are very little experimental evidences showing it. In this study a new vehicle with Mecanum wheels has been designed, developed and tested experimentally on actual cray fields. A pivot mechanism has been applied to make wheels land equally on the ground to increase the performance. The vehicle has been tested on actual fields. As the result, the vehicle has successfully traveled with the total mass of about 80kg, showing its possibility to work on actual fields. Eventually, the vehicle with Mecanum wheels will be aimed to apply to travelling mechanism of agricultural machines.
