2P2-D03 4輪操舵オムニホイール車両の走行に関する研究(車輪移動ロボット)

• 今津 篤志

  東京工科大

• 下村 慧

  東京工科大院

• 内藤 直樹

  東京工科大院

• 岡本 上二郎

  東京工科大院

• 山浦 富雄

  東京工科大

書誌事項

タイトル別名

• 2P2-D03 Study of Vehicle with streerable Omni-Wheels

抄録

This paper proposes a new vehicle type mechanism which has 4-Wheel-Drive Omni-Wheels with 4-Wheel-Steering. This mechanism is a superset of conventional Omni-directional vehicle and some car type mechanism. Then with some DOF fixed, the mechanism can be applied many conventional driving methods. Steering and driving characteristics of the vehicle is illustrated with geometrical analysis. A straight driving method with non-step gear ratio by symmetric steering and a turning method by difference of driving speed are tested. Experiments are held with a vehicle model and some difference between the analysis and experiments caused by dynamic effect such as driving or cornering force.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2008 (0), _2P2-D03_1-_2P2-D03_4, 2008

  一般社団法人 日本機械学会

キーワード

• Omni-Wheel
• 4Wheel-Steering
• 4Wheel-Drive

詳細情報

• CRID: 1390001205936189440
• NII論文ID: 110008696704
• DOI: 10.1299/jsmermd.2008._2p2-d03_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2008/0/2008__2P2-D03_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可