| 摘要 |
PROBLEM TO BE SOLVED: To improve travel stability, by preventing a situation of disturbing a route when turning for traveling in a curve such as particularly cornering, with a simple constitution having no steering mechanism.SOLUTION: A pair of front wheels Wf, a pair of intermediate wheels Wc, and a pair of rear wheels Wr are provided in a longitudinal direction of a chassis 1, and the respective wheels are provided so that its wheel shaft 2 is orthogonal to the longitudinal direction of the chassis 1, and the intermediate wheels Wc comprise: a rubber tire 4; and the front wheels Wf and the rear wheels Wr are constituted of an omnidirectional wheel of annularly arranging a plurality of laterally rotating rollers 6 for freely rotating in a lateral direction, and a driving part 7 is respectively provided in the respective wheels, and a control part 20 is provided with maximum driving torque command means 21 for distributing maximum driving torque of the intermediate wheels Wc by reducing more than maximum driving torque of the front wheels and the rear wheels in the front wheels Wf, the intermediate wheels Wc and the rear wheels Wr on the outside in a turning radius direction when turning for traveling in a curve of the chassis 1. |
