Power Transmission Mechanism in the Poloidal Direction with Slit Structure to Avoid Interference

- Utilization as an Active Omnidirectional Wheel -

Abstract

This paper introduces the mechanism that transmits power in the poloidal direction by meshing. The proposed mechanism consists of three elements: a circular rail whose cross-sectional shape rotates in a poloidal direction all the way around, a slider that slides along the circular cross-sectional shape, and a slit on the slider to avoid interference with the spokes for fixing the rail. An active omnidirectional wheel was developed using the proposed mechanism, and its performance was evaluated.