Development of an omni-directional vehicle with inclined support type ball drive

2022 Fiscal Year Final Research Report

• Project/Area Number: 19K04274
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: Kyushu Institute of Technology
• Principal Investigator: Miyamoto Hiroyuki 九州工業大学, 大学院生命体工学研究科, 准教授 (20336100)
• Project Period (FY): 2019-04-01 – 2023-03-31
• Keywords: 全方向移動 / 球型車輪

Outline of Final Research Achievements

Running stability is one of the most important issues for a moving mechanism, but the conventional omnidirectional moving mechanism had a problem with running stability. In response to this, the applicant has developed a ball-driven omnidirectional movement mechanism that is resistant to disturbances and capable of stable running. However, the rotor that drives the ball slips, and in order to maintain high running stability, it is necessary to periodically adjust the idler that presses the ball and the drive rotor. In addition, there is a problem that the drive rotor made of an elastic non-slip material has low durability. Therefore, in this research, we propose a completely new mechanism that does not depend on the elasticity of the drive rotor.　It was confirmed that the rotor did not slip on the prototype vehicle and that the center of gravity control improved performance over bumps.

Free Research Field

知的ロボット工学

Academic Significance and Societal Importance of the Research Achievements

本機構が完成すると、弾性が少ない代わりに 耐久性の高い駆動ロータが使え、かつ走行安定性の更なる向上が可能となる。さらに圧接力生成をアイドラに頼らないので、調整やメンテナンスが不要となる。 ミニチュアの試作機で有効性は確認したが、実用化のステージに進むには、人間が搭乗できるサイズの試作機で設計パラメタの最適化を図る必要がある。本研究本研究開発の目標が達成されたあかつきには、全方向移動が可能な搬送台車、電動車椅子、パーソナルモビリティ等の実現に直ちに応用できる。