2P1-R15 an Evaluation for Stability of the Trochoid Trajectory Rotating Mechanism on Rough Terrain : A Mechanism for Omnidirectional Mobility Without Omniwheels (iv)(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 all-wheel-drive mechanism to get over rough terrain. In this paper, the straight line stability was evaluated with a geometrical analysis of the grounding point of the wheel on rough terrain. The direction of the vehicle is shifted large as the camber angle is large. The shifts would be available to construct novel steering mechanism.