三脚パラレルメカニズムを用いたパーソナルモビリティビークル

抄録

A personal mobility vehicle is a mobile equipment for one or two people and has a role between walking and existing mobile equipment such as automobiles or electric wheelchairs. In this research a new type of the personal mobility vehicle using a tripod parallel mechanism has been proposed and designed. For the mechanism three actuators independently move to realize a six degree-of-freedom for the motion platform. A ball driving type of omni-directional actuator for the new type of the personal mobility vehicle has been proposed and developed. A three-tenth scale prototype model of the personal mobility vehicle has been designed and manufactured.