軸方向推進の観点からの全方向駆動メカニズム

― 第２報 軸方向波動伝播ホイール機構およびスクリュー式差動回転機構の車両化 ―

抄録

The omnidirectional motion can move any direction without changing the direction of its own. The authors have developed Wave-wheel mechanism and Screw-type differential rotating mechanism. Also, the stepping performance were improved by extending the ground point from point to line. In addition, we have evaluated the motion characteristics of one unit and made high rigidity. In this paper, we examined the composition for vehiclization. In the vehicle configuration, the minimum necessary two units are arranged in parallel, and these are actually realized. We conducted experiments using actual mechanisms and confirmed that the inventive principle is also effective for vehicle construction, omnidirectional motion.