Abstract
We proposed a simple mechanism running on geometrically complete trochoidal trajectory as a novel omnidirectional translation mechanism. It has also high ability to get over the difference in level. A model with simple 3D link mechanism needed to have all-wheel-drive mechanism to get over rough terrain. The mechanism had to drive wheels with inconstant angular velocity to produce trochoidal trajectory. In this report, the inconstant wheel velocity was realized by the combination of a new designed spherical wheel and camber angle in the simple mechanism.
