観光施設利用を目指した球体駆動式全方向移動機構のメンテナンス性および静粛性向上の検討

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2015/02/01

タイトル(英語): Improving Maintainability and Reducing Noise of Ball Wheel Drive for Tourism Facilities

著者名: 新福　宜侑（九州工業大学大学院生命体工学研究科脳情報専攻），重松　裕人（九州工業大学大学院生命体工学研究科脳情報専攻），石田　秀一（（独）産業技術総合研究所生産計測技術研究センタープロセス計測チーム），宮本　弘之（九州工業大学大学院生命体工学研究科脳情報専攻）

著者名(英語): Noriyuki Shimpuku (Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology), Hiroto Shigematsu (Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology), Shuichi Ishida (Measurement Solution Research Center, National Institute of Advanced Industrial Science and Technology), Hiroyuki Miyamoto (Graduate School of Life Science and Systems Engineering, Kyushu Institute of Technology)

キーワード: 移動ロボット，全方向移動機構，球体駆動式全方向移動機構　　mobile robot，omnidirectional mobile vehicle，ball wheel drive

要約(英語): In the future, the demand for service robots is expected to increase in Japan. It is considered that the hotel monitoring and guiding robots will be useful in the tourism industry of Okinawa. Vehicles using the Ball Wheel Drive mechanism have a better climbing ability for step and gap and on slopes than the conventional omnidirectional mobile vehicles which use the Omni Wheels. We developed a prototype and demonstrated its usefulness through experiments. The previous prototype uses ball casters for the ball holding mechanism because it is easy to design. However, if the surface of ball caster is damaged, noise is generated. In this paper, we propose a new prototype that uses universal casters for the ball holding mechanism to reduce noise during traveling.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.135 No.2 （2015） 特集：Okinawa型ロボット組み込み/サスティナブルシステム

本誌掲載ページ: 93-98 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/135/2/135_93/_article/-char/ja/