Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
The authors have been studying on an omni-directional mobile mechanism with high step-climbing ability, which is a combination of a dual-wheel caster mechanism and a differential suspension mechanism. In the previous study using a prototype model, among various passive wheel schemes, a powered steering caster type showed a higher climbing ability independent of approach angle. However, it was suggested that changing the front wheels from the passive to the driving seems to make the performance better. On the basis of this result, this paper proposes an omni-directional mobile electric wheelchair of a dual-wheel caster type employing a front-wheel drive and steer schemes. Besides, its 2D kinematics is derived and omni-directional mobility is confirmed through simulations using a full-scale experimental model.
