車輪外周チューブのねじれ回転を利用した全方位移動可能な2自由度車輪の開発

―外周チューブ保持機構の改良―

抄録

In this paper, we have proposed the outer tube holding mechanism of Two Degree-of-Freedom(2-DOF) wheel. Robot needs three or four Omni wheels and Mecanum wheels to move omnidirectionally with conventional systems. The conventional wheels have some problems such as slippage and vibration. We have developed 2-DOF wheel, the omnidirectional moving system with only one wheel. The developed wheel has a drivable outer tube around the outer ring of the wheel, however, the tube tended to drop off from the outer ring when the outer tube rotates to move to the lateral direction. Therefore, we proposed a holding mechanism to prevent dropping off for the outer tube. The mechanism has held the tube effectively and the frequency characteristic of the straight tube is measured in the experiment.