ツインリンク機構を用いたメカナム四輪駆動ロボットベース

抄録

This paper propose a twin link mechanism for four mecanum wheels drive robot base, had advantage for traveling over the step with small wheel. The platform robot and cargo robot were experimentally developed, and after measurement the basic performance in the experimental room, total traveling performance were evaluated on the wide robot run field in trade show. As these experimental results, good traveling stability performance and good possibility for social implementation were shown.