Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
The authors have been studying an omni-directional mobile mechanism capable of traveling over a level difference while moving in all directions. In the authors’ past study, a dual-wheel caster-drive mechanism with front-wheel steering-drive method employed a differential mechanism with rocker-links has been developed. In addition, the 3D dynamics simulator was constructed and the load when overcoming a step was confirmed. In this paper, the relationship between the direction of the step and the height that can be overcome is verified by using 3D dynamics simulation. As a result of comparison between the proposed method and conventional methods, the proposed method shows high performance in overcoming steps in various directions.
