抄録
In this paper, design and building of a prototype omnidirectional wheelchair are presented. On the design process of the prototype, fundamental study and experimental data using a small robotic vehicle were used to determine wheel diameter, gear reduction ratio, motor capacity, etc. for satisfying the specifications required for the 4WD omnidirectional wheelchair. Prototype wheelchair equips with drive wheels 275mm in diameter, driven by two 300W motors via power transmissions which reduction ratio is 25. A chair mounted on the 4WD mobile platform is rotated by 200W motor independent from wheel drive. The prototype wheelchair is expected to surmount a 100mm step with a human operator, whose weight is 100kg at maximum.
