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タイトル: | Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration |
著者: | Long, Siying Terakawa, Tatsuro Yogou, Mahiro Koyano, Rintaro Komori, Masaharu |
著者名の別形: | 龍, 四営 寺川, 達郎 余合, 真宙 小谷野, 倫太郎 小森, 雅晴 |
キーワード: | omnidirectional mobility active omni wheel mechanism design kinetics slippage vibration |
発行日: | May-2024 |
出版者: | ASME International |
誌名: | Journal of Mechanisms and Robotics |
巻: | 16 |
号: | 5 |
論文番号: | 051002 |
抄録: | Omnidirectional mobility is required for the efficient movement of transport vehicles in factories and warehouses. To meet this requirement, the active omni wheel with barrel-shaped rollers (AOWBR) was previously proposed. The barrel-shaped rollers are arranged around the outer circumference of the main wheel of the AOWBR. This structure is expected to be effective in suppressing vibration during vehicle movement. The transmission roller drives the outer roller via a friction drive, which actively moves the AOWBR in the lateral direction. However, the friction drive may cause slippage between the transmission roller and the outer roller. To solve this problem, this study investigates the effects of the design parameters for an AOWBR on vibration and wheel slippage. The kinetic models of the wheel main body, transmission roller, and outer roller are established. Then, simulations are carried out using the kinetic models for various structural parameter values. The simulation results show that a softer rubber block installed in the support mechanism of the outer roller contributes to reduce wheel slippage but cause larger vibration, and that a larger setting angle between the transmission and outer rollers contributes to reduce slippage and vibration. Finally, comparison experiments are conducted on two types of prototype to verify the simulation results. |
記述: | Paper No: JMR-23-1080 |
著作権等: | This article is deposited under the publisher's permission. Copyright © 2023 by ASME This manuscript version is distributed under the Creative Commons Attribution 4.0 International License. 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/2433/286582 |
DOI(出版社版): | 10.1115/1.4062608 |
出現コレクション: | 学術雑誌掲載論文等 |
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