よりコンパクトなオムニホイールの開発

抄録

In previous study, a compact omni-directional wheel was developed with built in motor and reduction gear. The omni-wheel has been applied in the mobile robot’s development.

In order to extend the application scenery for this wheel, the redesign is necessary to make the wheel more compact and powerful.

In this report, a flat motor and a reduction gear built-in free roller nested type omni-wheel is proposed. With this design, the proposed omni-wheel is more powerful and compact. Prototype model was made to verify the utility of the proposed design.