スクリュー式差動回転機構

-前後方向踏破性向上のための全方向駆動車輪を直列配置した車両の具現化-

抄録

This paper presents vehicle with omnidirectional driving wheels based on screw-type differential rotating mechanism. An omnidirectional driving wheel can generate a driving force in any arbitrary direction. Therefore, there are various wheel arrangements for composing the vehicle. In this paper, wheels are arranged in series configuration for improving the traversing ability in longitudinal direction. In addition, realization of this type of vehicle and evaluation of its ability is reported.