著者
淺間 一 佐藤 雅俊 嘉悦 早人 尾崎 功一 松元 明弘 遠藤 勲
出版者
日本ロボット学会
雑誌
日本ロボット学会誌 (ISSN:02891824)
巻号頁・発行日
vol.14, no.2, pp.249-254, 1996-03-15 (Released:2010-08-10)
参考文献数
9
被引用文献数
8 or 0

A new driving mechanism for holonomic omni-directional mobile robots is designed, which enables 3 DoF (degrees of freedom) motion control in two dimensional space by three correspondent actuators in a decoupled manner without redundancy. The kinematics of the omni-directional mobile robot is also analyzed to prove that driving motion by the actuators is decoupled by the developed mechanism into 3 DoF motion of the robot. A prototype of the omni-directional mobile robot with the driving mechanism is developed including a parallel link suspension mechanism. Finally, the performance of the prototype robot is shown through experimental results, by which the working of the designed mechanism is verified.

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