面状全方向クローラ機構

― 第８報：テーパ状履帯版における段差・雪上走行実験および左右２ユニット履帯構成 ―

抄録

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.