ホイールベース可変機構を搭載した高斜度軟弱地盤移動ロボットの走行性に関する研究

抄録

This paper is aimed at analyzing traveling performance of wheel base variable robot for high slope loose soil. This paper adopts two settings. In the first setting, robot equipped with wheel of diameter 170mm, and is traveled by the presence or absence of wheel base variable structure. In the second setting, robot equipped with wheel of diameter 130mm, and is traveled by the presence or absence of wheel base variable structure. The each settings adopt slope angle 0deg, 5deg, 10deg and 15deg. From the experimental result, wheel base variable structure exists high performance. Additionally, it can be suggested that wheel diameter 130mm existing high performance relative to wheel diameter 170mm.