自律移動案内ロボットの動的安定性に関する設計と評価

森田 裕介; 渡辺 公一; 小林 祐介; 村上 真之; 益田 俊樹; 坂下 和広

doi:10.1299/jsmermd.2020.1A1-C02

2020

Session ID : 1A1-C02

DOI https://doi.org/10.1299/jsmermd.2020.1A1-C02

Conference information

Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : May 27, 2020 - May 30, 2020

Design and evaluation of dynamic stability for autonomous guide robot

*Yusuke MORITA, Koichi WATANABE, Yusuke KOBAYASHI, Masayuki MURAKAMI, Toshiki MASUDA, Kazuhiro SAKASHITA

Author information

Keywords: Mobile servant robot, Risk assessment, Dynamic stability, Safety design, Test method

CONFERENCE PROCEEDINGS RESTRICTED ACCESS

Details

Abstract

We calculated the driving conditions based on the upper limit value of the falling moment derived from the static stability performance. And we conducted a dynamic stability test to understand the overturning limit performance of the autonomous mobile guide robot during running and confirmed any behavior. As a result, it was found that it is desirable to focus on the portion where the inertial force acts, and that a dangerous spin phenomenon occurs when turning without turning over.

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