交差型ヘリカル歯車機構に基づく能動双リング式全方向駆動車輪

―グローサによる不整地走破性の向上―

抄録

This study was related to a holonomic omnidirectional mobile robot, particularly, a mobile robot with a wheel mechanism that can generate an omnidirectional driving force with a single unit based on Cross Helical Gear mechanism. In this paper, grousers were added to the wheel for improving step climbing ability. A vehicle using multiple active Dual-Ring types omnidirectional wheel was fabricated. From experiments, it was confirmed that the vehicle equipped with this mechanism had a high running performance.