車輪移動型ロボットのための速度ベースメカニカル安全ブレーキの開発

（設計および製作）

抄録

This paper describes a velocity-based mechanical safety brake for wheeled mobile robots. If this safety brake detects an unexpected driveshaft’s angular velocity, it switches off all of the robot’s motors and then stops the driveshaft by gradually reducing the velocity of the driveshaft. The safety brake works even when the robot’s computer breaks down, because it consists of only passive mechanical components without actuators, controllers, or batteries. Firstly, we introduce the features of the mechanical safety brake. Secondly, we explain the structure and mechanism of the mechanical safety brake designed in this research. Thirdly, we describe the structure and mechanism of the mechanical velocity-based lock device used in the mechanical safety brake. Finally, we present the mechanical safety brake fabricated in this study.