荷台水平化を実現する低重心型平行二輪運搬ビークルの荷台姿勢制御

抄録

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.