単球により動力伝達を行うアクティブキャスタACROBAT-Sの制御システムと試作実験

抄録

In this paper, kinematics analysis and prototyping of the active-caster robotic drive with a ball transmission in a single layer (ACROBAT-S) is presented. The active-caster mechanism with a ball transmission is proposed for creating active caster motions by simple control of electric motors with no angle sensor and complicated calculations for cooperative motions. To realize this concept, we designed a unique ball transmission in which motor power is combined together on a ball rotation and decomposed mechanically to a steering shaft and a wheel shaft of the active-caster. To design a proposed mechanism, a kinematics of a ball, a roller and active-caster motions are analyzed to derive a mechanical condition for the prototype design. From the results of simulation and experiments, it is confirmed that the proposed active-caster mechanism, ACROBAT-S, realized expected omnidirectional motions with no angle sensor and no complicated control of electric motors.