Dynamic Simulation of 1-DOF Swing Motion Propulsion Mechanism by Rotary Actuator

摘要

In this study, we aimed to develop a mobile robot that can move forward, turn, and move backward using one actuator. We previously proposed 1-DOF swing motion drive mechanisms for a mobile robot that uses linear actuators. This paper proposes a 1-DOF swing motion robot with a rotary actuator for realizing simple design and cost reduction. First, this paper describes a wheel posture switching mechanism. Next, we examine the dynamics modeling of a mobile robot and the wheel posture switching mechanism. Finally, the results are investigated through dynamic simulations to determine the forward-movement characteristics of the proposed mechanism.