不整地用履帯型移動体を使った運搬ロボット

抄録

A lot of research is still being done on the running control of tracked vehicle because various factors are intricately intertwined and it is not straightforward. When beginners start by developing a vehicle, the problems we hear most often are "cannot turn" and "motor driver burns". In particular, the tendency becomes stronger as the weight of the vehicle becomes heavier.

Therefore, from our experience of developing a load carrying robot, we report the key points for overcoming those troubles. Regarding "cannot turn", many factors are identified and suggestions for robot design are given. Regarding "motor driver burns", we show conceptional graphs of the temperature rise of the switching ICs and give suggestions for heat dissipation.