早戻りリンク機構の非対称運動を利用した劣駆動移動ロボットの開発

抄録

The authors have studied a motion generation on downhill using wobbling effects with 1 degreeof-freedom linkage inside a semicircular arc shaped body. The study showed that the motion generation is possible on downhill by using the proposed method. It was, however, difficult to generate propulsion motion on level surface. Therefore, for the purpose of generate motion on level surface, we are advancing the design development of the new type robot utilizing wobbling effects by quick return(QR) linkages. The new type robot consists of a semicircular body frame and inside QR linkages actively controlled. This paper then analyzes the .fundamental properties of the generated motion by changing the parameter that the desired-time trajectory for driving link of QR linkages. Furthermore, we outline our prototype experimental machine.