抄録
The vehicle using omnidirectional wheels has ability to move in all directions without changing the body direction unlike a normal four-wheel-drive vehicle, so it can go in narrow space and realize speedup of the work because it can move laterally. But the Mecanum Wheel as an example of omnidirectional wheel is unsuitable for rough terrain now. In this paper, we designed the new Mecanum Wheel which has spiral structure. Rollers are attached to wheel's circumference helically. When the vehicle with this spiral Mecanum Wheel moves laterally, the tip of the parts forming the spiral is rotated as to cover from above the step. We have performed the experiment using the prototype of spiral Mecanum Wheel and verified its performance.
