| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an omnidirectional moving mechanism capable of compactifying a moving unit, and capable of moving stably and smoothly along a desired direction, even on irregular road surfaces. <P>SOLUTION: This omnidirectional moving mechanism is arrayed annularly with the moving units 10A provided with a friction sheet 11, a sheet-holding member 12 for holding the friction sheet 11, a support plate 13 for supporting the upper part side of the sheet-holding member 12, and leg parts 14A, 14B provided with the bottom plate 14a and a parallel link mechanism 14b for supporting the support plate 13 from both sides, and having a servo motor 15 mounted on the bottom plate 14a of the one leg part 14A connected to a connection base 16 installed at the bottom plate 14a of the other leg part 14B, by a crank mechanism 17, and the driving phase of the servo motor 15 for driving each of the moving units 10A is controlled by a phase controller so as to make progressive wave generated at the grounding point of each of the friction sheets. <P>COPYRIGHT: (C)2008,JPO&INPIT |
