ねじ機構を用いた展開車輪ロボットの開発

抄録

Benefits of the wheel include high speed movement and versatility, but since it has difficulty overcoming obstacles such as steps, various activities are restricted. In order to solve this problem, we developed an expanding wheel robot combining wheels with claw mechanisms. By changing the wheel diameter from 150 [mm] to 280 [mm], it is possible for the robot to overcome a step larger than itself. The machine also has a tail with one degree of freedom and supports movements such as inversion of the robot and selection of the claws orientation. By using a screw mechanism for the deployment of the wheel, we realized the independence of the two functions of deployment and traveling.