全方向駆動入力用メカニズム

― 位相機構学の観点からの接触面回転力生成型入力機構の設定方法 ―

抄録

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.