全方位クローラの製作

抄録

Omnidirectional crawler robot has attracted much attention because the mechanism is able to decrease the number of movement operations. However, there is a technical problem, in which the mechanism is composed with many especial parts. In the present study, therefore, we achieved the same operation by combining the commercial crawler mechanism with the simple parts made using 3D printer. As a result, the robot with our crawler could run on flat field in all direction. This is because the side-to-side motion was achieved by many claw type parts. In future, we will estimate the performance of the omnidirectional crawler robot with the downsized sprocket.