被災地走行を目的とした空気レス可変剛性車輪の提案

抄録

Because disaster areas have various road conditions, wheel characteristics must be changed to suite to them. Since it is inefficient to change wheels at the disaster areas, a single wheel is required to have multiple characteristics. Therefore, an airless variable rigidity wheel for driving in disaster areas is proposed. It is equipped with a variable rigidity mechanism using a belt drive. In this drive system, the petal-shaped parts that necessary to change the wheel characteristics can be interlocked. In this way, the wheel can be given the characteristics of stiffening and softening. Then, a single-wheel driving experiment is conducted on soft ground with a traction load to confirm the driving performance. As a result, it is shown that the switching of the wheel characteristics has the effect of preventing the wheel from getting stuck.