1P1-F09 An improvement of the trochoid trajectory rotating mechanism for getting over bumps : A mechanism for omnidirectional mobility without omniwheels (III)(Wheeled Robot/Tracked Vehicle(3))

Wheeled vehicles have low ability to get over the difference in level. We proposed a simple mechanism for geometrically complete trochoid as a novel omnidirectional translation mechanism. It has also high ability to get over the difference in level. A prototype model was constructed using the mechanism. The mechanism needed to have a high suspension capability and all-wheel-drive mechanism to get over rough terrain. In this paper, an improved mechanism to generate not only steering angle and camber angle for ideal trochoid but also the angular velocity of the wheel axis was proposed.