干渉回避スリット構造によるポロイダル方向への動力伝達機構

―能動全方向車輪としての活用―

抄録

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.