からくり無人搬送車の2層カムによる移動制御

抄録

A karakuri automatic guided vehicle (AGV) is proposed. The developed karakuri AGV has karakuri steering mechanism with a two-layer cam, rack-and-pinion and Ackermann-Jeantaud scheme. The karakuri steering mechanism without electronic control enables it to turn to the left and right. From the experimental results, it was found that the karakuri AGV can travel along the target route. The effect of the steering mechanism and payload on the driving route was also evaluated. The maximum average error for the target turning angle was 2.4 degrees. The maximum repeatability error was 2.7 degrees due to the load capacity and center of gravity position.