抄録
We have developed a high-speed movement and omni-direction movable wheel module (WM11-01). And we proposed the wheeled Multi-purpose Module System (MMS-V01) which is consist of series of two WM11-01. The body configuration of MMS-V01 are arranged four mecanum wheel on one axis, each of mecanum wheel is driven independently. MMS-V01 is capable of omni-directional movement at high-speed and have an elongated body to move in a narrow space such as a pipe. An omni-directional and a pivoting movement of the MMS-V01 is analyzed by simulation to evaluate the performance of the MMS-V01. The relationship between the rotational speed of the wheel and the movement trajectory of MMS-V01 is observed. The result indicated that the MMS-V01 is capable of omni-directional movement and pivot movement at high speed by giving the rotation speed and direction of rotation of the wheel.
