| 摘要 |
PROBLEM TO BE SOLVED: To provide traveling stability suited to actual road surface and reduce wear by easily adjusting a wheel to an attitude angle according to a tire characteristic. SOLUTION: In the outer surface of a crawler 34 for rotary-driving a wheel, a plurality of flat plate-like protrusions 38 having specified heights are formed along the circulating direction at specified intervals. When the crawler 34 is driven to circulate, the wheel is rolled on a tire driving surface, passed from the upper surface of a plate piece 32 through a step to be placed on the upper surface of the protrusions 38, then passed from the upper surface of the protrusions 38 through the step to be placed down on the upper surface of the plate piece 32. This process is repeated. In this case, longitudinal and lateral forces generated in the tire are measured and, based on a changing rate of the longitudinal forces, a specified period including time from the deformation of the tire in the process of the wheel's passing through the step until the tire is rolled and returned to its nearly normal state. The attitude angle of the wheel is adjusted so as to reduce the fluctuating energy of the lateral force during the specified period.
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