車両幅可変機構を有する全方向移動車の設計とその車椅子への応用

• 和田 正義

  富士電機 (株)

• 浅田 春比古

  マサチューセッツ工科大学機械工学科ダバロフ情報システムテクノロジー研究所

書誌事項

タイトル別名

• Design of a Holonomic Omnidirectional Vehicle Using a Reconfigurable Footprint Mechanism and Its Application to a Wheelchair.
• シャリョウハバ カヘン キコウ オ ユウスル ゼン ホウコウ イドウシャ ノ

抄録

In this paper, a new mechanism for varying the footprint of a four-wheeled omnidirectional vehicle is presented. A chair is mounted on a moving platform with four ball wheels allowing for holonomic, omnidirectional motion. Two pairs of ball wheels at the diagonal positions of the chassis are fixed, respectively, to two beams that intersect at a pivotal point in the middle. The angle between the two beams crossing at the pivotal point is varied actively so that the ratio of the wheelbase to the tread can be varied. Four independent servomotors driving the four ball wheels allow the wheelchair to move along three axes, i.e. x, y, and φ, and change its footprint at the same time. The footprint configuration is controlled based on the measurement of the mass centroid position in such a way that the mass centroid can be kept within the footprint area at all times. First the concept of the reconfigurable footprint mechanism is described, and its kinematic and static behavior is analyzed, followed by the control design for augmenting the vehicle stability. A prototype wheelchair platform is designed, built, and tested.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 16 (6), 816-823, 1998

  一般社団法人 日本ロボット学会

キーワード

• Wheelchair
• Holonomic Omnidirectional Vehicle
• Ball Wheel
• Reconfigurable Mechanism
• Static Stability

詳細情報

• CRID: 1390282679702244224
• NII論文ID: 10002864477
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.16.816
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 4545729
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4545729
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可