To provide an omnidirectional moving vehicle capable of reducing errors between forward moving distance and backward moving distance in case that driving conditions in forward and backward moving are the same.
The omnidirectional moving vehicle is equipped with front wheels 3A, 3B provided at the front part side of a vehicle body 2, and rear wheels 4A, 4B provided at the rear part side of the vehicle body 2. These wheels 3A to 4B are circularly arranged around a rim rotatably mounted to the vehicle body 2, and have a plurality of freely rotatable driven wheels 6 around the shaft orthogonal to the rotating shaft of the rim. An annular pawl part 9 forming a recessed part 8 in where a base end 6a side part of the adjacent driven wheel 6 gets is provided at the tip end 6b side part of the driven wheel 6. The arrangement direction of respective driven wheels 6 in the front wheels 3A, 3B and the arrangement direction of respective driven wheels 6 in the rear wheels 4A, 4B are opposite to the longitudinal direction of the vehicle body 2.
TATARA TAKEHIRO
IWATA HIROYASU
SUGANO SHIGEKI
UNIV WASEDA
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Tatsuya Shioda