成果報告書詳細
管理番号20160000000686
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 全方向駆動機構を核とした革新的アクチュエーション技術の研究開発
公開日2016/7/27
報告書年度2015 - 2015
委託先名国立大学法人東北大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Development of an Innovative Actuation based on Core Technology of an Omnidirectional Driving Mechanism (FY2015-FY2019) FY2015 Annual Report
[Basic Mechanical Design]
In this project, our research group from Tohoku University will develop a mechanical configuration for omnidirectional actuation, i.e., an omnidirectional driving mechanism, for a next generation platform. The supporting shaft in the Omni-Ball we developed was positioned at the center of the mechanical configuration, i.e., in the inner space between two hemi-spherical wheels. Therefore, it was difficult to realize a highly smooth wheel surface and load bearing capacity simultaneously.
Therefore, we considered a mechanism to solve these problems. In the suggested mechanism, the position of the barrel-shaped wheel is offset such that the space created can be used to connect to an outer shaft, which has a U-shaped configuration. Thus, the suggested spherical omnidirectional wheel mechanism will have load bearing capability as well as a smooth wheel surface.
During the first year of this project, we designed a mechanical configuration with bearings based on a structure proposed by the leader of our group. Furthermore, we developed a prototype model by using 3D printing technology to confirm the fundamental performance and characteristics of the proposed mechanism. We then developed a second prototype model with metal parts a practical version.
[Omnidirectional Motion]
We built a four-wheeled vehicle with the newly developed Omni-Ball mechanism having an outer supporting shaft to realize omnidirectional motion. A smooth omnidirectional motion of the prototype model was confirmed through experiments conducted using the real model.
[Smoothness of the Wheel Surface of the Proposed Mechanism]
We also compared the smoothness of the wheel surface between the previous Omni-Ball mechanism and the newly developed mechanism with the outer supporting shaft. We confirmed that the proposed mechanism has a smoother surface than the previous mechanism.
[Load Bearing Capacity]
In addition, we simulated the load bearing characteristics of the wheel mechanism with the outer supporting shaft with the previous Omni-Ball mechanism that had an inner supporting shaft. The results indicated that the load bearing capacity of the model developed in this study was eight times greater than that of the previous model.
The experiment of load bearing characteristics was conducted using the first prototype model. We confirmed that the prototype model with the SUS shaft can bear a load of 500 N in each direction. This indicates a high load bearing capability for practical omnidirectional platforms with four or six wheels.
[Conclusion and Future Work]
In the next few years, our research group will develop a practical model with an omnidirectional suspension mechanism for application to wheel chairs, and develop other applications such as an omnidirectional driving robotic finger with a new roller mechanism and an active mechanical transmission, which will be patented by us.
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