スライダ内蔵回転リンク機構を持つ階段昇降ロボットの設計と制御

抄録

In this paper, in an inverted pendulum type stair climbing robot, which has a mechanism that rotates two-wheeled rotating links and moves the center of gravity with a slider at the top, we applied a rack and pinion mechanism to the rotating links and proposed a mechanism that moves the rotating links in parallel to move the center of gravity. As a result of the control experiment of the experimental system, it was found that it was possible to control the rotational motion and parallel movement of the rotating link. The load torque applied to the gears for rotation and translation was measured in order to select a motor to control the links.