Planar Omnidirectional Crawler Mechanism

- 8^th Report : Motion Experiment on the Step and on Snow Ground by Tapered Tracks and the Configuration with Two Left and Right Unit Crawlers -

Abstract

This research relates to "planar omnidirectional crawler mechanism" by moving to any direction holonomically without turning motion. By omnidirectional motion, it is possible to achieve a smooth movement in a narrowed road. In addition, by making the surface contact with the ground, it is possible to increase the pressure receiving area. It is a structure capable of load distribution, there is an advantage of improving the ability to move on unstable place. In this report, we designed and prototyped crawlers attached to along circumference by tapered small diameter tracks for improving performance on the step. We verified the prototype moved on the step and on snow by some experiments. Furthermore, we explain the structure for turning motion consists of two large diameter units.