表題番号：2023C-179
日付：2024/04/05
研究課題4自由度球面パラレルリンク機構を有する脚車輪ロボット脚部の能動車輪化に関する研究
| 研究者所属（当時） | 資格 | 氏名 | |
|---|---|---|---|
| （代表者） | 理工学術院 大学院情報生産システム研究科 | 教授 | 橋本 健二 |
- 研究成果概要
- We developed the robot leg in the previous fiscal year with a 4-DoF spherical parallel link mechanism. In FY2023, we conducted research to develop active wheels for the legs. The active wheels attached to the leg tips should be compact and lightweight. One way to reduce the weight of the leg tips is to place a relatively massive motor near the body using a power transmission mechanism. However, it is not easy to implement this method on the legs of a spherical parallel link mechanism. Therefore, we adopted a method in which the motor is installed on the same axis as the wheels to rotate the wheels directly. Through simulations using a dynamics simulator, we determined the wheel diameter and the actuator for the active wheel. The rubber material of the wheel should be able to withstand abrasion by running and not slipping against the ground. Considering these factors, a polyethylene urethane rubber Shore A70 was selected to provide abrasion resistance and gripping force. We developed a bipedal wheeled robot consisting of 4-DoF legs and active wheels. The developed robot realized running through obstacles and slalom running.