Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In connection with the super-aging society, there is a growing interest in omnidirectional powered-wheelchairs that possess a better movement performance in a narrow space. An omnidirectional mobile robot composed of active dual-wheel caster assemblies can use general rubber tires, so that it is easy to apply it to a powered wheelchair. This study is aimed at developing an omnidirectional mobile platform using active dual-wheel caster assemblies in consideration of the run in a public road. An omnidirectional mobile platform using a rocker-bogie suspension system is proposed to improve the running ability, and several active dual-wheel caster modules are produced so as to be used in such a platform. In this paper, we give an overview of the active dual-wheel caster assemblies and the proposed robot, and describe the process of actual production of such modules and the associated experimental results.
