Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In recent years, the parallel-two-wheel transporter with lower gravity center of vehicle body has been developed for reducing the burden of transporting the heavy load on irregular ground. Therefore, it is required to level the loading platform in the transporter. In order to realize the leveling platform, the attitude control systems of the loading platform on pitch and roll-directions are proposed in this paper. The attitude control on the pitch direction can be performed by the parallel-two-wheel mechanism with active mass control system. And, the attitude control on the roll-direction can be performed by the rolling motion mechanism with flexible rack and pinion gears, and servomotor. The effectiveness of the proposed attitude control systems are verified by the experiments with the parallel-two-wheel transporter.
