バネ圧縮リミッタ機能を搭載した可変剛性車輪の提案

抄録

Natural disaster often happens in Japan. In disaster-stricken area, wheels which are able to move around various types of ground such as loose soil and rigid surface without puncturing are required. Our research group focuses on the deformation of a wheel. In previous research, the particular wheel that has a function with variable rigidity mechanism was developed. However, the consideration about “displacement” of previous proposed wheel is not enough. Therefore, in this paper, we propose spring compressor limiter mechanism using a cylinder and a spring. Moreover, we confirm the effectiveness the wheel equipped with proposed mechanism by conducting running tests.