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Locomotion System by rolling Balls and its Traficability

滚珠运动系统及其通行性

基本信息

批准号：
05806033
负责人：
HORIO Hisashi
金额：
$ 1.15万
依托单位：
Kobe University
依托单位国家：
日本
项目类别：
Grant-in-Aid for General Scientific Research (C)
财政年份：
1993
资助国家：
日本
起止时间：
1993 至 1994
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05806033/
关键词：
New Concept of Running Gear Rolling Ball Traction Drive Trial Vehicle 試作車輛走行装置トラクション・ドライブ新構想の試作

项目摘要

A new locomotion system, designed with a concept quite different from the conventional wheel system, comprises one big rolling ball and three driving rollers. The big rolling ball supports the vehicle body through three driving rollers which are positioned at equal intervals of 120 deg.of the same latitude onto the upper part of the rolling ball. The rolling of the ball is controlled by the rotating speed and direction of each roller. The results of the experiments on the fundamental characteristics of a single drive unit and the basic performance of the trial vehicle based on this locomotion system are presented. The magnitude of meandering and the angle of deviation from the desired direction of the rolling was estimated. The results showed that the rolling performance depended on the rolling direction. At a given time any two of the three rollers are at 60 deg.and the third at right angles to the rolling direction. When the rollers at 60 deg.were at the forefront of rolling, rolling was stable with less meandering but unstable in the traction between the rollers and the ball. The trial vehicle comprised three drive units. Straight traveling is engaged by setting all the units in the same rolling direction. Pivotal turning is engaged by setting one unit on stop and the other two units on drive in the rolling direction concerned. Traveling tests were succeeded on asphalt road, tilled soil and also grassy land. However, the ball sometime removed from drive unit. The cause of its problem was considered by measuring the torques of the rollers and normal reaction forces produced on rollers.

一种新的运动系统，其设计理念与传统的车轮系统截然不同，它由一个大滚动球和三个驱动滚轮组成。大滚球通过三个驱动滚子支撑车身，三个驱动滚子以相同纬度的120度等间隔放置在滚球的上部。球的滚动是由每个滚筒的旋转速度和方向来控制的。给出了基于该运动系统的单个驱动单元的基本特性和试验车的基本性能的实验结果。估计了弯曲的大小和偏离期望轧制方向的角度。结果表明，轧制性能与轧制方向有关。在给定的时间，三个滚轮中的任意两个与滚动方向成60度角，第三个滚轮与滚动方向成直角。60度角滚子处于滚动前沿时，滚动稳定，弯曲较少，但滚子与球之间的牵引力不稳定。试验车辆由三个驱动单元组成。直线行进是通过将所有单元设置在相同的滚动方向来进行的。枢纽转向是通过设置一个单位在停止和其他两个单位在驱动有关的滚动方向。在沥青路面、耕地和草地上均取得了成功。然而，球有时会从驱动单元中移除。通过测量滚筒的转矩和对滚筒产生的法向反力，分析了产生问题的原因。