A Survey on Trends of Mobile Robot Mechanisms

Abstract

The wheeled robot's ability is one of the most important factors which is influential with efficiency of achieving tasks by robots. Demands for mobile robots change where environment and purpose does, therefore various mechanisms of mobile robots are proposed. However, there is no standard or general guideline of designing moving mechanisms. In this paper, we classify and denote characteristics of moving mechanisms systematically, and indicate the guideline when we design them. Especially we describe omnidirectional robots and irregular terrain robots. 1.‚Í ‚ ¶ ‚ß ‚É ˆÚ"®‹@•\ ‚Ì •« "\ ‚Í,‚» ‚Ì ƒ• ƒ{ ƒb ƒg‚ª •s ‚¤ •ì ‹AE‚Ì OEø-¦‚ð OEˆ'è ‚Ã ‚¯ ‚é •Å ‚à 'å ‚« ‚È-v ˆö ‚̈ê‚Ìˆê ‚Â‚Å‚ ‚è,‹ß "N'•-Ú‚ð •W‚ß ‚Ä‚¢ ‚é ƒq ƒ… •[ ƒ} ƒmƒC ƒhOE^ƒ• ƒ{ ƒb ƒg(‹r OE^ˆÚ"®‹@•\)‚ð ‚Í ‚ ¶ ‚ß,-l •X‚È Ží-Þ‚Ì ˆÚ "®‹@•\ ‚ª 'ñ ˆÄ ‚³ ‚ê ‚Ä‚¢ ‚é[1].ˆÚ "®‹@•\ ‚Ì •\ '¢ ‚É'•-Ú‚· ‚é ‚AE, ‰º‹L ‚Ì ‚ae ‚¤ ‚É •ª-Þ‚· ‚é ‚± ‚AE‚ª ‚Å ‚« ‚é •}. (1)ŽÔ-Ö OE^ˆÚ"®‹@•\:ŽÔ-Ö ‚Ì ‰ñ "] ‚É ‚ae ‚èˆÚ‚èˆÚ"® (2)ƒN ƒ• •[ ƒ‰ OE^ˆÚ"®‹@•\:-š 'Ñ ‚Ì ‰ñ "] ‚É ‚ae ‚èˆÚ‚èˆÚ"® (3)‹r OE^ˆÚ"®‹@•\:‹r ‚ð-p‚¢ ‚½•à •s ‚É ‚ae ‚èˆÚ"® (4)‚» ‚Ì '¼:"Á Žê‹@•\ ‚â,(1)•`(3)‚Ì 'g ‚Ý• ‡ ‚í ‚¹ ‚± ‚ê ‚ç ‚Ì ‚¤ ‚¿,ˆÚ "®OEø-¦‚Ì-Ç ‚³,‹@ •\ •E• § OEä‚Ì ŠÈ•Ö ‚³,'· "N ‚É ‚í ‚½‚é ‹Z •p "I ‚È '~ •Ï ‚Ì '½ ‚³ ‚È ‚Ç‚© ‚ç,(1)‚ª •Å ‚à •L ‚-p‚¢ ‚ç ‚ê ‚Ä ‚¢ ‚é.(1)‚Ì "T OE^"I ‚È ‹@•\ ‚Å ‚Í,• ¶ ‰E ‚Ì ŽÔ-Ö ‚Ì '¬ "x •· ‚ð-˜-p‚µ ‚ÄŽp •¨ ‚ð •Ï ‰»‚³ ‚¹ ‚é •û-@(Fig.1(a))‚â,ƒX ƒe ƒAƒŠƒ" ƒO‚ª •t ‚¢ ‚½ŽÔ-Ö ‚ð ‹ì "® ‚³ ‚¹ ‚é •û-@(Fig.1(b))‚É ‚ae ‚èˆÚ‚èˆÚ "®‚ð •s ‚¤. ‚µ ‚© ‚µ,‚± ‚ê ‚ç "TOE^"I ‚È ŽÔ-Ö OE^ˆÚ"®‹@•\ ‚É ‚ÍˆÈ‚ÍˆÈ ‰º‚Ì • § OEÀ ‚ª ' ¶ •Ý ‚· ‚é. (a)ˆÚ "®•û OEü‚Ì • § OEÀ (b)ˆÚ "®-̈ae ‚Ì • § OEÀ (a)‚Í •i •s ‰Â "\ ‚È •û OEü‚ª "Á 'è ‚Ì •û OEü‚Ì ‚Ý ‚É • § OEÀ ‚³ ‚ê ‚é ‚± ‚AE‚ð ˆÓ-¡ ‚· ‚é.-á ‚¦ ‚Î,(1)‚Ì "T OE^-á‚Å‚ ‚é Ž© "®ŽÔ‚Í •^ ‰¡‚ÉˆÚ "®‚Å ‚« ‚È ‚¢ ‚½ ‚ß,-Ú "I ˆÊ 'u ‚É "ž 'B ‚· ‚é ‚½‚ß ‚É ‚Í ŽžŠÔ‚ð ‚© ‚¯ ‚Ä•Ø ‚è•Ô Fig. 1 Examples of mobile robot mechanism ‚µ ‚ð •s ‚¤ •K-v‚ª ‚ ‚é.‹· ‚¢ •ê •Š ‚ð 'Ê ‚è"² ‚¯ ‚é •Û ‚â,•¡ •" ƒ• ƒ{ ƒb ƒg‚ª "¯ ˆê •¨ 'Ì ‚𠋦 '² "À'-‚· ‚é •Û ‚É ‚Í,‚± ‚Ì ‚± ‚AE‚ª 'å ‚« ‚È-â 'è ‚AE ‚È ‚é.(b)‚Í •°-Ê‚Ì •‚ 'á •· ‚ª ‚ ‚é-̈ae ‚Ö ‚̈ڂ̈Ú"®‚ª • § OEÀ‚³ ‚ê ‚é ‚± ‚AE‚ðˆÓ‚AE‚ðˆÓ-¡ ‚· ‚é.‰® "à ŠO‚ð-â ‚í ‚¸‰š‚¸‰š"Ê ‚â 'i •· ‚Í-l•X ‚È •ê •Š ‚É' ¶ •Ý ‚µ ‚Ä ‚¨‚肨‚è,•¡ OEã'½-l‚È ŠÂ‹« ‚Ö ‚Ì ƒ• ƒ{ ƒb ƒg‚Ì •i •o ‚ð 'j ‚Þ 'å ‚« ‚È-â 'è ‚AE‚È ‚é. •ã ‹L ‚Ì-â 'è ‚ð ‰ð OEˆ‚· ‚é ‚± ‚AE‚É ‚ae ‚è,(1)‚Í ‚³ ‚ç ‚É Šˆ-Šˆ-ô ‚Ì •• ‚ð •L ‚° ‚é ‚± ‚AE‚ª ‚Å ‚« ‚é.‚» ‚± ‚Å,(a)‚Ì •Ž •ž ‚ð-Ú"I ‚AE‚µ ‚½'S •û OEü ˆÚ"®ƒ• ƒ{ ƒb ƒg‚Ì OE¤‹ † ‚â,(b)‚Ì •Ž •ž ‚ð-ÚŽw‚µ ‚½•s •® 'n ˆÚ"®ƒ• ƒ{ ƒb ƒg‚Ì OE¤‹ † ‚ª •· ‚ñ ‚É•s ‚í ‚ê ‚Ä‚¢ ‚é.ˆê "Ê "I ‚È(1)‚É ŠÖ ‚µ ‚Ä ‚Í,ˆÚ "® ƒ• ƒ{ ƒb ƒg'S "Ê ‚Ì ƒT •[ ƒx ƒC[3]‚â •ÝOEv•û-@‚Ì ‰ð •à[4]‚È ‚Ç ‚ª ‚ ‚è, ‹@•\ Šw •E ‰^"®Šw‚Ì ‰ð •Í ‚à ‚· ‚Å ‚É ‚È ‚³ ‚ê ‚Ä ‚¢ ‚é[2][4]•`[11].‚µ ‚© ‚µ,'S •û OEüˆÚ"®‹@•\ ‚AE•s •®'n ˆÚ"®‹@•\ ‚É ŠÖ‚µ ‚Ä‚Í,'½ Ží '½-l‚È ‹@•\ ‚ª 'ñ ˆÄ ‚³ ‚ê ‚Ä ‚Í ‚¢ ‚é ‚ª,‚» ‚Ì •ª-Þ‚¨‚ae‚ÑÞ‚¨‚ae‚Ñ•Ý OEvŽw•j ‚É ŠÖ‚· ‚é 'Ì OEn‰»‚Í ‚Ù ‚AE‚ñ ‚Ç ‚³ ‚È ‚ê ‚Ä‚¨‚ç‚Ä‚¨‚ç ‚¸,'Š OEÝ •] ‰¿ ‚Í "ï ‚µ ‚¢.‚Ü ‚½,‚» ‚ê ‚¼ ‚ê ‚Ì ƒ• ƒ{ ƒb ƒg‚ª-Ú•W‚AE‚· ‚é •ì ‹AEŠÂ‹« ‚Å‚Ì-v‹• Žd-l ‚Í Še˜_Še˜_ • ¶ ‚É •q ‚× ‚ç ‚ê ‚Ä‚¢ ‚é ‚ª,'S "Ê "I ‚ÉŽae ‚è ‚Ü‚AE‚ß ‚½‹L •q ‚Í ‚± ‚ê ‚Ü‚Å ‚È ‚© ‚Á‚½. ‚» ‚± ‚Å-{ ˜_ • ¶ ‚Å ‚Í,'S •û OEüˆÚ"®‹@•\ ‚AE•s •®'n ˆÚ"®‹@•\ ‚ÉŠÖ‚· ‚é OE¤‹ † "®OEü‚Ì '² •¸ ‚ð •s ‚¢,Še ‹@•\ ‚Ì ‰ð•à ‚¨‚ae‚¨‚ae ‚Ñ'Š OEÝ •] ‰¿‚ð •s ‚¤. ‚Ü‚½,ƒ• ƒ{ ƒb ƒg‚̈ڃg‚̈Ú"®‹@•\ ‚ð •ÝOEv •EŠJ "-‚· ‚é •Û ‚ÉŽQ•l ‚AE‚È ‚é ‚ae OE´•eŽó•t2001"N11OEŽ1"ú *1•Ã‰ª 'å Šw *2"OE‹ž 'å Šw *1Shi zuoka University