Research for an Omnidirectional Mobile Robot Using ACROBAT, the Active-caster with a Dual-ball Transmission
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- WADA Masayoshi
- Institute of Engineering, Tokyo University of Agriculture and Technology
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- HIRAMA Takahiro
- Osaka factory, Komatsu Ltd.
Bibliographic Information
- Other Title
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- 球形動力伝達機構を用いたアクティブキャスタACROBATによる全方向移動ロボットに関する研究
- 球形動力伝達機構を用いたアクティブキャスタACROBATによる全方向移動ロボットに関する研究 : 冗長駆動性のないアクティブキャスタの動力伝達機構とその制御方法の開発
- キュウケイ ドウリョク デンタツ キコウ オ モチイタ アクティブキャスタ ACROBAT ニ ヨル ゼン ホウコウ イドウ ロボット ニ カンスル ケンキュウ : ジョウチョウ クドウセイ ノ ナイ アクティブキャスタ ノ ドウリョク デンタツ キコウ ト ソノ セイギョ ホウホウ ノ カイハツ
- —冗長駆動性のないアクティブキャスタの動力伝達機構とその制御方法の開発—
- —Development of a Transmission Mechanism and a Control Method for a Non-redundant Actuation System—
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Description
In this paper, we propose a new type of omnidirectional mechanism which includes two balls as a transmitter of the power. The ACROBAT, we call the proposed system like this, is a caster type omnidirectional mechanism. The ACROBAT uses normal rubber tire, which is the different point from conventional omnidirectional robot. In order to determine the best construction of omnidirectional robot with ACROBATs, the efficiency of actuator usage is calculated in this paper. At last, computer simulation and experiments using a prototype are performed on the kinematics of the 3-wheeled robot. We confirm the possibility of ACROBAT system as a driving mechanism without special wheel, complicated control system, and sensing wheel orientation.
Journal
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- Transactions of the Society of Instrument and Control Engineers
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Transactions of the Society of Instrument and Control Engineers 51 (6), 400-408, 2015
The Society of Instrument and Control Engineers
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Details 詳細情報について
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- CRID
- 1390001204508372224
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- NII Article ID
- 130005075840
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- NII Book ID
- AN00072392
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- ISSN
- 18838189
- 04534654
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- NDL BIB ID
- 026570889
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed