双リング式全方向車輪機構

抄録

This paper describes the wheel Mechanism with Dual-Rings to realize the omnidirectional driving motion. In the conventional model, the distance between two wheel is larger and the supporting shaft can be contacted to outer environment, therefore, the moving ability of the conventional model is quite limited. On the mechanical configuration of the wheel mechanism with dual-rings, these problems can be solved by the small offset and large wheel diameter. The prototype model is designed and developed. The basic motion of the prototype is confirmed experimentally.