| 摘要 |
PROBLEM TO BE SOLVED: To simplify the configuration and suppress the cost of an omnidirectional moving vehicle by introducing such an arrangement that omnidirectional movement can be made easily even with no sensor provided for sensing the steering angle. SOLUTION: An omnidirectional moving vehicle is composed of a drive unit 1 consisting of driving wheels 2 and 3, actuators 4 and 5, a steering shaft intalled on a dolly 15, and a bearing part installed on the vehicle body 12 for generating revolutions round the vertical axis of the steering shaft in a position apart in the horizontal direction from the position where the driving wheels 2 and 3 are installed, an actuator 9 for driving the steering shaft installed in the drive unit 1, and a biaxial joy stick 11, wherein the axis of the joy stick 11 is positioned identical to the revolving axis C of the steering shaft so that a parallel displacement command reading part for the joy stick rotates synchronously with rotating drive unit 1 and the joy stick is installed on the dolly 15 of the drive unit 1 in such a way as capable of being operated from over the vehicle body 12. |
