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| ファイル | 記述 | サイズ | フォーマット | |
|---|---|---|---|---|
| 978-3-031-45770-8_73.pdf | 371.78 kB | Adobe PDF | 見る/開く |
| タイトル: | Motion Characteristics Analysis of a Mecanum-Wheeled Omnidirectional Mobile Robot on a Slope |
| 著者: | Terakawa, Tatsuro    https://orcid.org/0000-0002-9418-3156 (unconfirmed)Yogou, Mahiro Komori, Masaharu https://orcid.org/0000-0001-8696-8167 (unconfirmed) |
| 著者名の別形: | 寺川, 達郎 余合, 真宙 小森, 雅晴 |
| キーワード: | Omnidirectional mobile robot Mecanum wheel Slope |
| 発行日: | 2023 |
| 出版者: | Springer Nature |
| 誌名: | Advances in Mechanism and Machine Science |
| 開始ページ: | 733 |
| 終了ページ: | 741 |
| 抄録: | Mecanum-wheeled omnidirectional mobile robots (MOMRs) are widely used in the field of industry. However, since the mobility of the Mecanum wheel depends on the free rollers, limitations or undesirable behaviors may occur in the motions of the MOMR, especially when external forces are applied. Therefore, this study investigates the motion characteristics of the MOMR on a slope. First, we focus on the maximum possible acceleration considering the wheel skidding and clarify its relationship with the inclination angle of the slope and the structure of the MOMR. Then, the straight-traveling stability at the acceleration limit is analyzed to evaluate the effect of the resultant motion due to wheel skidding. The results show that the characteristics vary considerably depending on the inclination angle of the slope, and that directional dependences due to the free rollers are observed in the maximum acceleration limit and the straight-traveling stability, which should be considered in the operation of MOMRs. |
| 記述: | Mechanisms and Machine Science book series (Mechan. Machine Science, volume 148) the 16th IFToMM World Congress 2023 |
| 著作権等: | This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: https://doi.org/10.1007/978-3-031-45770-8_73 The full-text file will be made open to the public on 04 November 2024 in accordance with publisher's 'Terms and Conditions for Self-Archiving'. This is not the published version. Please cite only the published version. この論文は出版社版でありません。引用の際には出版社版をご確認ご利用ください。 |
| URI: | http://hdl.handle.net/2433/286275 |
| DOI(出版社版): | 10.1007/978-3-031-45770-8_73 |
| 出現コレクション: | 学術雑誌掲載論文等 |
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