ロッカーボギー機構を用いた双輪キャスタ型全方向移動機構

抄録

Dual-wheel caster drive mechanism realizes omini-directional movement with a simple mechanism. However, It cannot performs well on a rough terrain. On the other hand, rocker bogie mechanism offers road surface tracking abilities with a simple mechanism. Therefore, in this presentation, a new driving mechanism combining dual caster drive mechanism and rocker-bogie mechanism is proposed and examined by experiment using a prototype model and by kinematic simulation.