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Vibration Evaluation of Omni-directional Mobile Mechanism of an Inspection Robot for Outdoor Infrastructure Facilities

In recent years, the aging of underground infrastructures has made it necessary to inspect them eﬃciently. In order to improve the inspection eﬃciency of outdoor infrastructure facilities, an omni-directional mobile robot that can move freely in all directions has been investigated. We have measured the acceleration time response of omni-wheels, so as to investigate the eﬀect of the vibration generated by the omni-directional movement mechanism. The acceleration characteristics due to the diﬀerence between the direction of movement and the speed of the omni-wheel have been evaluated. It was conﬁrmed that periodic vibration occurred by each moving direction of the Omni wheel. When a moving direction was decided on run speed, we conﬁrmed that the vibration input into all direction movement mechanism could be estimated