アクティブキャスタを用いた球の3次元回転駆動システムに関する研究

抄録

Currently, a driving mechanism with multiple degrees of freedom is required. The purpose of this research is to design and prototype a basic experimental apparatus which can rotate a sphere in 3 degrees of freedom by using active-casters, and to develop a system for controlling the motion of a ball. As a preliminary step of using the actual machine, simulations were conducted using 3D CAD in which three casters were arranged around the ball so that each steering axis in rotatable along the x, y, z axes with the center of the ball as the origin. First, I derive relational expressions between balls and casters. Next, I confirmed that the derived formula can accurately represent the relationship between the ball and the casters. Finally, we confirmed that the ball can be rotated with the target axis of rotation and angular velocity using three casters.