| 研究実績の概要 |
The original proposal was to develop a braking system that would be applied to each roller of the omniwheel. However, this proved difficult since there would be imbalances in the applied braking force between different rollers. And so the author focused on the development of a transmission system that is able to apply torque to all rollers from one device. The developed magnet gear system has a central magnet gear connected to the braking device and small magnet gears embedded in the rollers. As a result, the mechanism is not only able to apply a braking force but an actuating force as well which exceeds the initial proposal. Furthermore, this wheel can also be used to measure the velocity of omni-wheel rollers from one encoder which can be used for improving the odometry of omni-wheel based robot platforms.
A cooperative differential drive test robot platform equipped with the developed wheels was implemented and tests showed that dynamic braking improves mobility as predicted in the performed modeling and analysis.
Upon presenting the initial design of the wheel in the Japan Society of Mechanical Engineers (JSME) Robotics Mechatronics (Robomech) 2018 conference, the author was nominated for the Best Presentation award and will be receiving said award in the JSME Robomech 2019 awarding ceremony. A second Best Presentation award was received for the Society of Instrument and Control Engineers (SICE) System Integration 2018 conference. This shows that there is interest in the design and implementation of the proposed wheel.
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