全方向移動ロボットの開発

―屋内用全方向移動ロボットの駆動構造最適化―

抄録

For social implementation of indoor robots, movement in narrow passages is an issue. Therefore, an omnidirectional mobile robot is expected. For a practical robot, we want the top surface of the robot to be a space where functions are installed. The drive structure should take into account the usage rate of movement motions. Passages and rooms are often arranged at right angles, and are configured with 4 omni wheels and 4 actuators arranged in 90 degree directions. However, this results in 1 degree of freedom redundancy for 3 spatial degrees of freedom. In addition, the weight and size of the robot will increase, which will reduce competitiveness. Based on the above, this paper proposes a driving structure consisting of 4 omni wheels and 3 actuators. We designed and manufactured the robot and confirmed its movement by running the actual machine.