| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve the steering stability and the ride quality of an omni-directional mobile vehicle. <P>SOLUTION: An inverted-pendulum type omni-directional mobile vehicle includes a pair of wheels 2R, 2L arranged parallel to each other, a driving mechanism for individually rotation-driving the pair of wheels, a control means for controlling the driving mechanism, an auxiliary wheel 4 arranged at the position separate from wheels in the direction orthogonal to a wheel axle O, and a vehicle body with the pair of wheels being mounted thereon to receive the load of a heavy object. The wheels have rotating bodies 20R, 20L rotatable around the wheel axle, and a plurality of free rollers 21R, 21L which are arranged on outer circumferential parts of the rotating bodies around the entire circumference, brought into contact with the road surface at the lower end positions of the rotating bodies, and rotatable around rotary shafts PR, PL inclined to the wheel axle. Free rollers 21R', 21L' on both sides at the ground contact parts in contact with the road surface are arranged in the direction so that each rotary shaft extends parallel to the road surface, and the spacing of the rotary shafts is gradually decreased towards the auxiliary wheel side. <P>COPYRIGHT: (C)2011,JPO&INPIT |
