対向2輪と全方向車輪を備える移動ロボットに関する基礎的研究

抄録

Wheels with free rollers, which are often used as omni-directional moving mechanisms, have problems such as vibration during progression to the wheel's rotation axis, and a large difference between the large wheel diameter and the free roller diameter, which results in extremely low tread performance depending on the direction. To solve these problems, this study proposes a mechanism in which the passive wheel is mounted at an angle so that the axis of rotation of the free roller of the mechanum wheel is perpendicular to the main direction of travel.

This mounting can significantly reduce vibration when moving in the main travel direction without losing the advantages of conventional wheels with free rollers, and also enables the wheel to step over bumps not only in the front-back direction but also to some extent in the left-right turning direction. The fact that We have confirmed that.