| 摘要 |
PROBLEM TO BE SOLVED: To provide a practical holonomic omni-directional moving vehicle of low cost with high reliability and highly precise running capacity and a method for controlling it by making a control system and a driving system not interact, simplifying the control system and the driving system, reducing a capacity of an actuator, driving the actuator with saving power, and the like. SOLUTION: A steering shaft 13 comprising a rotating plate 3 for steering a driving wheel is journaled to a vehicular body 1 by a steering shaft rotating bearing 2, and the driving wheel 5 is placed to a position spaced at a distance s in a rolling direction of the driving wheel 5 and at a distance d in a direction orthogonal to the rolling direction from the steering shaft in the rotating plate 3 by a driving wheel supporting member 4. A steering shaft driving motor 10 and a driving wheel driving motor 20 are secured to the vehicular body 1, and the rotating plate 3 is rotated and driven by the steering shaft driving motor 10 through a motor shaft spur gear 11 and a spur gear 12 provided to the steering shaft. The driving wheel 5 is rotated and driven by the driving wheel driving motor 20 through spur gears 21, 22, 23, 24 and bevel gears 25, 26. |
