To provide a movable body capable of improving direct advance even if a plurality of omnidirectional movement wheels are arranged in an asymmetrical state.SOLUTION: A movable body is provided with three or more omnidirectional movement wheels 11. At least two of the omnidirectional movement wheels 11 are arranged so that the thrust directions thereof are different from each other. In an xy orthogonal coordinate system with a reference point of the movable body as an original point, the omnidirectional movement wheels 11 are arranged so that a total sum of a velocity moment expressed by a product of a velocity vector generated at each of the omnidirectional movement wheels 11 by the movement of the movable body and a distance to a rotational center line of the movable body obtained by using the velocity vector as a reference point becomes zero.SELECTED DRAWING: Figure 3
【課題】複数の全方向移動車輪を非対称に配置した場合であっても、直進性を向上させることができる移動体を提供する。【解決手段】移動体は、3個以上の全方向移動車輪11を備える移動体であって、全方向移動車輪11のうち、少なくとも2個の全方向移動車輪11の推力方向が異なるように配置され、移動体の基準点を原点とするxy直交座標系において、移動体の移動により全方向移動車輪11の各々に生ずる速度ベクトルと、当該速度ベクトルを基準にして求まる移動体の旋回中心までの距離との積により表される速度モーメントの総和がゼロとなるように全方向移動車輪11が配置されている。【選択図】図3
MOVABLE BODY, DESIGN SUPPORT DEVICE, AND DESIGN SUPPORT METHOD
移動体、設計支援装置及び設計支援方法
2024-07-29
Patent
Electronic Resource
Japanese
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