メカナムホイールを用いた移動ロボットの移動環境に関する研究

抄録

The goal of our research is to apply the Mecanum Wheel robot as an automatic conveying robot in a narrow space. The Mechanum Wheel is a wheel covered with a barrel whose surface is tilted by 45 degrees with respect to the axle, allowing it to move diagonally in addition to straight ahead. By attaching Mecanum Wheels in the same way as for ordinary vehicles, Mecanum Wheel robot can move omnidirectional by combination of four Mecanum Wheels.

However, Mecanum Wheel has a problem that the amount of movement changes due to the influence of the friction with the floor surface. In this paper, we describe the influence of frictional force on the Mecanum Wheel.