A New Locomotion System ; Steering, Propelling and supporting Vehicle Body by rolling Bowls.

提出了一种新的运动系统概念。车辆是由滚动的泥碗来操纵、支撑和推进的。大碗是由三个以120度间隔排列的滚轮牵引驱动的。这是基本命题“如果转向装置系统中没有任何完整元件，什么机构可以存在”的解决方案之一。1)驱动单元由一个篮球赛用的碗和三个直径280 mm、外围转速5 cm/min的驱动辊组成。该装置固定在另一端与立柱相连的臂上。滚动的碗移动在200个乒乓球碗上滑动的盘子。将轨迹记录在白纸上，纸铺在粘在板上的复写纸上。2)由轨迹得到的回归线给出直线性的估计指标，即直线与期望方向的夹角，轨迹各点与直线的标准差。3)三个驱动辊中的一个与滚动方向成直角。当该滚轮位于滚钵的前端时，牵引时滚动更稳定，而直滚时滚动更低。4)滚轮位置纬度越高，线与期望方向夹角越大。5)与轧制方向成直角的驱动辊的转速比其他辊的转速调整得更高。这个比例在几何上是需要的；0.72为45度的滚筒纬度。6)推进装置由三个驱动单元组成，并在平坦和粗糙表面上进行了测试。新运动系统的概念得到了很好的满足。

A new concept for locomotion system has been examined. A vehicle is steered, supported and propelled by rolling bog bowl. The big bowl is traction-driven by three rollers arranged at same intervals of 120 deg. This is one of the solutions for the proposition of elementary 'What mechanism can exist if steering apparatus has not any integral element in its system'.1)The drive unit was composed by using a bowl for basket bowl game and three dirvine rollers of 280 mm in diameter and 5 cm/min in peripheral speed. The unit was fixed on the arm attached in the other end to column. The rolling bowl moves the plate which slides on 200 ping-pong bowls. The locus was recorded upon the white paper spread upon carbon paper sticked on the plate.2)Regression line obtained from locus presents the estimation indexes of straightrollability, which are the angle-between the line and desired direction, and the standard deviation of each-point of locus from the line.3)The one of three driving rollers is located to rolling direction in right angles. When this roller is front side of rolling bowl, rolling is stabler in traction but lower in straight-rolling.4)The angle between the line and desired direction is bigger in higher latitude of roller position.5)The rotational speed of driving roller oriented in right angles to rolling direction is adjusted higher in particular ratio to other rollers. This ratio is geometrically desired ; 0.72 for 45 deg. in roller latitude.6)Propelling apparatus was composed from three driving units and examined on flat and rough surfaces. The concept of new locomotion system was well satisfied.