Omnidirectional mechanism from the viewpoint of axial direction drive

- Prototyping of the Ciliated Wheel Mechanism and the Vehicle Mechanism with Cross-Helical Gear -

Abstract

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 ciliated wheel mechanism. In this paper, we examined the composition for vehiclization. In the vehicle configuration, the minimum necessary two units are arranged in parallel. We conducted experiments using actual mechanisms and confirmed that the inventive principle is also effective for vehicle construction, omnidirectional motion.