新型クランク車輪機構Eccentric Crank Roverの開発

抄録

Crank wheel mechanism is a mechanism which has high mobility and efficiency since it has both wheels and legs in its simple structure. In this research, we will propose a novel crank wheel mechanism, ”Eccentric Crank Rover”(ECR), which is a combination of crank wheel mechanism and eccentric wheel. This mechanism has quite simple structure and high traversability on rough terrain since the body of ECR has a function as a ”second” crank leg. Furthermore, ECR have high energy efficiency on flat ground, since the weight oscillation of crank legs are canceled by eccentric wheel and body mass. As a result of experiment, we confirmed that this mechanism can climb almost 94% height step of its height.