キャンバ角変更機構を有する畦畔除草ロボットの横滑り抑制に関する研究

抄録

In Japanese mountainous region, there are many levee slopes, in which weeds are grown and effective vegetation are needed. The string trimmers are used to conserve the vegetation of levee slopes. At the same time, however, it is true that some of the users, especially of the elders, have an accident by them. The Japanese government, accordingly, has been promoting the automation of agricultural machine like weed cutter robots, to prevent accidents.

In the development of weed cutter robots for levee slope, sideslip is an important issue. We confirmed the effectiveness of camber angle for the suppression of the sideslip. However, sufficient consideration has not been made on the camber angle suitable for sideslip suppression. In this paper, the author discussed the relationship between wheel differences and behavioral differences of vehicle with camber angle.