Development of the coaxial parallel two-wheeled vehicle with a low center of gravity for optimal design of the mechanism and control system

2023 Fiscal Year Final Research Report

• Project/Area Number: 22K14209
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 20010:Mechanics and mechatronics-related
• Research Institution: National Institute of Technology, Toyota College
• Principal Investigator: Sagoh Yukinori 豊田工業高等専門学校, 機械工学科, 講師 (70766435)
• Project Period (FY): 2022-04-01 – 2024-03-31
• Keywords: 同軸平行二輪ビークル / 移動ロボット / 重心移動 / 姿勢制御

Outline of Final Research Achievements

In FY2022, the mechanism that can change the mass equivalent to that of tha passenger or object to be carried was developed for tha low center of gravity coaxial parallel two-wheel vehicle. This mechanism can be driven in two axial directions, back and forth and up and down. Experiments using the actual vehicle confirmed the effect of the mechanism on the tilt of the vehicle body. In FY2023, tha omni-directional mobile robot was developed to externally measure the behavior of tha low center-of-gravity type vehicle with coaxial parallel wheels. This measurement robot runs alongside the low center-of-gravity vehicle and captures images to measure the inclination angle of the vehicle body and the rotation angle of the wheels through image recognition. The constructed measurement robot is used to measure the behavior of the vehicle body and wheels during traveling.

Free Research Field

ロボット工学，制御工学，情報工学

Academic Significance and Societal Importance of the Research Achievements

研究代表者の従来研究において，用途に合わせた低重心型同軸平行二輪ビークルの設計手法の確立が解決すべき課題となっている．令和4年度に構築した2自由度重心移動機構は重心位置を静的に変更するだけでなく，走行中においても動作させて動的に変更できる．そのため，加減速時に生じる積荷の揺動による重心の変化を再現するなど，実際の利用を想定した実験が可能となる．また，このビークルは車体傾斜と連動して車輪が回転する場合があり，車体側に搭載された車輪モータのロータリエンコーダではこの回転情報を得られない．令和5年度に構築した計測ロボットにより，走行時の車体と車輪の挙動の計測，詳細なモデル検証に利用できる．