ベルトに直交方向の異方性摩擦がある素材を用いたクローラ型全方位移動ロボット

抄録

In this paper, we describe the made of a crawler type of omni directional mobile robot whose belt uses a material with orthogonal anisotropic friction. Omnidirectional mobile mechanisms are used in robots that perform complex movements. However, In order to move in Omnidirectional movement, it is necessary to use multiple parts to eliminate friction in the direction perpendicular to the direction of rotation crawler belt, which increases cost of assembly. Therefore, by using materials with different coefficients of friction in the orthogonal directions for the crawler belt, the number of parts can be reduced. The robot consists of four crawlers whose belts are made of materials with different coefficients of friction in orthogonal directions to enable movement in all directions, a loading platform, and electrical circuits for control and status monitoring.