Vibration characteristic evaluation equipment

Abstract

To provide a vibration characteristic evaluation device capable of evaluating vibration characteristics of an omni-directional wheel with a simple structure.SOLUTION: A vibration characteristic evaluation device includes: a trestle 101 installed on a track 51; a slide mechanism 102 having a guide member 37 and configured to slide the guide member 37 in a direction parallel to the track 51 on an upper part of the trestle 101; and a wheel holding mechanism 103 configured to be mounted on the guide member 37 and to fix an omni-directional wheel 10. The wheel holding mechanism 103 includes: an axle holding part 27 axially supporting the omni-directional wheel 10; sliders 24a, 24b installed between the axle holding part 27 and the guide member 37 and configured to slide in a normal direction of the track 51; and a sensor 28 configured to detect an acceleration generated at the omni-directional wheel 10.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vibration characteristic evaluation device. [Background technology]

[0002] When inspecting infrastructure facilities, it is not easy for workers to carry out inspection work in a narrow space. Non-Patent Document 1 proposes a mobile cart that uses omni-wheels (omnidirectional wheels), and by using such a mobile cart, it is possible to carry out inspection work while moving in any direction within a narrow space.

[0003] Omniwheels have auxiliary rollers on the outer periphery of the main wheels, which creates steps at the joints of the auxiliary rollers, making the structure prone to vibration.

[0004] Furthermore, if the road on which the mobile platform travels is uneven or has steps, vibrations from the roadway will be superimposed on the vibrations generated by the omni-wheel itself, causing the mobile platform to vibrate more complexly. To eliminate this vibration input, it is necessary to install a mechanism to suppress the vibration. For this reason, it is necessary to measure the vibrations input to the omni-wheel with high accuracy.

[0005] Non-Patent Document 2 discloses a method for evaluating vibrations occurring in each part of an entire vehicle equipped with an omni-wheel and an anti-vibration mechanism that suppresses vibrations in the main body in order to reduce the effects of bumps and the like.

[0006] Non-Patent Document 3 discloses a vibration characteristic evaluation device that can evaluate the vibration characteristics of an omni-wheel alone. In Non-Patent Document 3, the wheel unit including the omni-wheel is driven in a state where an axle holding mechanism, which allows the axle to move up and down, is restrained by a linear shaft, and the vibration characteristics are evaluated. [Prior art documents] [Non-patent literature]

[0007] [Non-Patent Document 1] K. Tadakuma, R. Tadakuma and J. Berengeres, “Development of Holonomic Omnidirectional Vehicle with “Omini-Ball”: Spherical Wheels, Proceedings of the 2007 IEEE / RSJ International Conference on Intelligent Robotsand Systems, San Diego, CA, USA 2007). [Non-patent document 2] https: / / www.imv.co.jp / e / products / vibrationtest / general-purpose / kseries / [Non-patent document 3] Sato et al., "Study on Vibration Suppression of Mobile Robots for Infrastructure Inspection - Construction of a Vibration Characteristic Evaluation Device," Proceedings of the 57th Hokkaido Branch Conference of the Japan Society of Mechanical Engineers, Tomakomai, 2020. Summary of the Invention [Problem to be solved by the invention]

[0008] However, the technology disclosed in Non-Patent Document 2 requires a large-scale vibrator that exceeds the size of a mobile cart driven by omni-wheels, which poses the problem of increasing the size and cost of the vibration characteristic evaluation device.

[0009] The technology disclosed in Non-Patent Document 3 holds the wheel unit with four shafts when driving the omni-wheel, and twisting occurs in the wheel unit when it moves, making it impossible to set a long movement stroke. Furthermore, the entire axle holding mechanism is held by a linear shaft, and the axle unit moves up and down depending on the condition of the floor surface. For this reason, it is necessary to add a spring element to the axle holding mechanism to prevent excessive constraint due to twisting of the linear shaft, which, like Non-Patent Document 2, results in problems such as an increase in the size and cost of the vibration characteristic evaluation device.

[0010] The present invention has been made in consideration of the above circumstances, and an object of the present invention is to provide a vibration characteristic evaluation device that has a simple structure and is capable of evaluating the vibration characteristics of an omnidirectional wheel. [Means for solving the problem]

[0011] One embodiment of the vibration characteristic evaluation device of the present invention comprises a base installed on a running path, a slide mechanism having a guide member and sliding the guide member in a direction parallel to the running path at the top of the base, and a wheel holding mechanism attached to the guide member and fixing an omnidirectional wheel, the wheel holding mechanism including an axle holding portion that supports the omnidirectional wheel, a slider installed between the axle holding portion and the guide member and sliding in a direction normal to the running path, and a sensor that detects acceleration generated in the omnidirectional wheel. [Effects of the Invention]

[0012] According to the present invention, it is possible to evaluate the vibration characteristics of an omnidirectional wheel with a simple structure. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view showing the configuration of a vibration characteristic evaluation device according to an embodiment and an omni-wheel to be evaluated. [Figure 2] FIG. 2 is a block diagram showing the configuration of the control device. [Figure 3] FIG. 3 is a perspective view of a wheel holding mechanism and an omni-wheel connected to the wheel holding mechanism. [Figure 4] FIG. 4 is an exploded perspective view of the wheel holding mechanism. [Figure 5] FIG. 5 is an explanatory diagram showing a state in which the wheel holding mechanism is attached to the guide member at an attachment angle of 0°. [Figure 6] FIG. 6 is an explanatory diagram showing how the wheel holding mechanism is attached to the guide member at an attachment angle of 45°. [Figure 7]FIG. 7 is an explanatory diagram showing how the wheel holding mechanism is attached to the guide member at an attachment angle of 90°. [Figure 8] FIG. 8 is a graph showing the acceleration generated in the omni-wheel when the mounting angle is set to 0° according to the first embodiment. [Figure 9] FIG. 9 is a graph showing the acceleration generated in the omni-wheel when the mounting angle is set to 90° according to the first embodiment. [Figure 10] FIG. 10 is an explanatory diagram showing the omni-wheel traveling along a path on which an acrylic rod is placed. [Figure 11] FIG. 11 is a graph showing acceleration generated when the omni-wheel travels on a travel path where no acrylic rods are installed according to the second embodiment. [Figure 12] FIG. 12 is a graph showing acceleration generated when the omni-wheel travels on a travel path on which acrylic rods are installed according to the second embodiment. [Figure 13] FIG. 13 is a block diagram showing the hardware configuration of this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of the present invention will now be described. Fig. 1 is a perspective view showing the configuration of a vibration characteristic evaluation device 100 according to the embodiment and an omni-wheel 10 (omnidirectional wheel) to be evaluated. As shown in Fig. 1, the vibration characteristic evaluation device 100 includes a base 101, a slide mechanism 102, a wheel holding mechanism 103, and a control device 104.

[0015] The base 101 is installed on the running path 51 on which the omni-wheel 10 runs. The base 101 may be made of a rigid metal material such as aluminum. The base 101 has four support columns 33 erected on the running path 51 and four rectangular frame members 31a, 31b, 32a, and 32b installed on the top of each support column 33. Of the four frame members, the frame members 31a and 31b form the long sides of the rectangle. The frame members 32a and 32b form the short sides of the rectangle.

[0016] Hereinafter, the frame members 32a, 32a constituting the short sides will be referred to as the first frame member 32a and the second frame member 32b, respectively. The first frame member 32a and the second frame member 32b are installed above the running path 51 and disposed opposite each other. That is, the base 101 is installed on the running path 51 of the omni-wheel 10 (omnidirectional wheel) and includes the first frame member 32a and the second frame member 32b disposed opposite each other.

[0017] The slide mechanism 102 includes two rails 34a and 34b, a guide member 37, a drive motor 38, a drive pulley 35a, a driven pulley 35b, and a belt 36.

[0018] Two rails 34a, 34b are arranged to connect the first frame member 32a and the second frame member 32b.

[0019] The guide member 37 has a flat plate shape and has sliding portions 37a that fit and slide on the rails 34a, 34b. That is, the sliding portions 37a slide along the rails 34a, 34b, allowing the guide member 37 to slide between the first frame member 32a and the second frame member 32b.

[0020] Eight through holes p are formed in the guide member 37. The eight through holes p are formed in a circular shape at intervals of 45° from the center. The through holes p are used for connecting to a connecting plate 29, which will be described later.

[0021] The drive motor 38 is mounted on the first frame member 32a. The drive motor 38 is connected to the control device 104 and is driven to rotate forward and backward under the control of the control device 104. In other words, the drive motor 38 moves the belt 36 between the first frame member 32a and the second frame member 32b.

[0022] The driving pulley 35a is connected to the output shaft of a drive motor 38. The driven pulley 35b is journalled on the second frame member 32b.

[0023] The belt 36 is stretched between the driving pulley 35a and the driven pulley 35b. The belt 36 is connected to a guide member 37.

[0024] Therefore, when the drive motor 38 is driven to rotate, the drive pulley 35a rotates, and the belt 36 moves in the direction of the frame members 31a and 31b (the longitudinal direction of the gantry 101). By rotating the drive motor 38 forward and backward, the guide member 37 connected to the belt 36 can be slid along the longitudinal direction of the gantry 101.

[0025] That is, the slide mechanism 102 includes a belt 36 stretched between the first frame member 32a and the second frame member 32b, and a guide member 37 connected to the belt 36, and moves the guide member 37 between the first frame member 32a and the second frame member 32b.

[0026] 2 is a block diagram showing the configuration of the control device 104. As shown in FIG. 2, the control device 104 includes a microcomputer 61, a controller 62, a display unit 63, and a driver 64.

[0027] The controller 62 accepts operation input by the user. The controller 62 outputs a speed setting value input by the user to the microcomputer 61. The speed setting value includes a setting value for the running speed of the omni-wheel 10 when a vibration evaluation test of the omni-wheel 10 is carried out. The controller 62 includes, for example, a button for determining the movement direction of the omni-wheel 10, a button for decelerating the running speed by 10 [cm / s], a button for increasing the running speed by 10 [cm / s], an operation start button, and an emergency stop button.

[0028] The microcomputer 61 outputs a PWM signal for driving the drive motor 38 based on a speed setting value set by the controller 62. The microcomputer 61 acquires acceleration signals in three-dimensional directions detected by the sensor 28 (described later) and outputs them to the display unit 63.

[0029] The driver 64 outputs a drive signal to the drive motor 38 based on the PWM signal output from the microcomputer 61. This allows the drive motor 38 to rotate at the speed input by the controller 62. In other words, the slide mechanism 102 shown in FIG. 1 can change the moving direction and moving speed of the belt 36.

[0030] The display unit 63 displays the acceleration signal acquired by the microcomputer 61 as an image.

[0031] Fig. 3 is a perspective view of the wheel holding mechanism 103 and the omni-wheel 10 connected to the wheel holding mechanism 103, and Fig. 4 is an exploded perspective view of the same. The wheel holding mechanism 103 is installed below the guide member 37 shown in Fig. 1. In other words, the wheel holding mechanism 103 is installed closer to the runway 51 than the guide member 37.

[0032] As shown in Figures 3 and 4, the omni-wheel 10 has a double disk shape with an opening 11 (see Figure 4) formed in the center. The omni-wheel 10 rotates around an axle 21 inserted through the opening 11. Auxiliary rollers 14 and 15 are provided around the periphery of the omni-wheel 10. The rotation of the auxiliary rollers 14 and 15 allows the omni-wheel 10 to move in the axial direction (the longitudinal direction of the axle 21). Note that Figure 4 shows a double omni-wheel with a diameter of 254 mm as an example.

[0033] As shown in Figures 3 and 4, the wheel holding mechanism 103 includes an axle 21, bearing portions 22 and 26, a fixed plate 23, fixing members 25a and 25b, an axle holding portion 27, two sliders 24a and 24b, and a connecting plate 29 (not shown in Figure 4).

[0034] The axle 21 passes through an opening 11 formed in the center of the omni-wheel 10 to support the omni-wheel 10 .

[0035] The axle 21 passes through the bearing portion 22, the center of the fixed plate 23, and the bearing portion 26, and is journaled by the axle holder 27. That is, the axle 21 is journaled rotatably with respect to the two bearing portions 22, 26.

[0036] Between the fixed plate 23 and the bearing portion 26, two sliders 24a, 24b and two fixing members 25a, 25b are provided.

[0037] As shown in Figure 3, the connecting plate 29 has a rectangular flat plate shape and is provided with four through holes q. Each through hole q is provided at an angle that differs by 90° from the center of the connecting plate 29. Each through hole q can be aligned with a through hole p formed in the aforementioned guide member 37 (see Figure 1) and connected with a screw. In other words, the angle at which the wheel holding mechanism 103 is installed relative to the guide member 37 can be changed.

[0038] By disposing the connecting plate 29 below the guide member 37 and connecting the four through holes q to any of the eight through holes p, it becomes possible to connect the connecting plate 29 to the guide member 37 at an angle that can be changed in increments of 45°. That is, the angle at which the wheel holding mechanism 103 is installed relative to the guide member 37 can be changed. The wheel holding mechanism 103 is also installed closer to the runway 51 (i.e., lower) than the guide member 37. Details will be described later with reference to FIGS. 5 to 7.

[0039] The slider 24a is configured by connecting two rod-shaped members 24a1 and 24a2 so that they can slide. That is, the length of the slider 24a in the up-down direction changes as the rod-shaped member 24a1 slides relative to the rod-shaped member 24a2.

[0040] Similarly, slider 24b is configured by connecting two rod-shaped members 24b1 and 24b2 so that they can slide, and the length in the up-down direction changes as rod-shaped member 24b1 slides relative to rod-shaped member 24b2.

[0041] That is, the wheel holding mechanism 103 is displaced in the vertical direction by the sliding movement of the two sliders 24 a, 24 b. The wheel holding mechanism 103 moves smoothly up and down without being restrained by the vertical vibrations that occur when the omni-wheel 10 runs on the running path 51.

[0042] The axle holder 27 supports the axle 21. A sensor 28 that detects acceleration in three-dimensional directions is attached to the axle holder 27. That is, the sensor 28 is provided near the omni-wheel 10. The sensor 28 has the function of detecting acceleration occurring in the omni-wheel 10 (omnidirectional wheel).

[0043] The wheel holding mechanism 103 can be attached by changing its positional relationship with the guide member 37. Figures 5 to 7 are explanatory diagrams showing the connection state between the connecting plate 29 mounted on the wheel holding mechanism 103 and the guide member 37.

[0044] Fig. 5 shows a state in which the surface of the omniwheel 10 is oriented in the longitudinal direction of the mount 101. That is, this shows a case in which the angle formed between the connecting plate 29 and the guide member 37 is 0°. Fig. 6 shows a case in which the angle formed between the connecting plate 29 and the guide member 37 is 45°.

[0045] 7 shows a state in which the direction of the surface of the omniwheel 10 is perpendicular to the longitudinal direction of the mount 101. That is, this shows a case in which the angle formed between the connecting plate 29 and the guide member 37 is 90°.

[0046] As shown in Fig. 1, eight through holes p are formed in guide member 37 at 45° intervals, and as shown in Fig. 3, four through holes q are formed in connecting plate 29 at 90° intervals. Therefore, by shifting the positions of the through holes p and q as shown in Figs. 5 to 7, the angle formed between connecting plate 29 and guide member 37 can be set to any of 0°, 45°, and 90°.

[0047] In this embodiment, an example in which eight through holes p are provided in the guide member 37 as shown in Fig. 1 has been described, but by drilling eight or more through holes p, it is possible to set the mounting angle to 30°, 60°, etc. Also, by providing a long arc-shaped slit in the circumferential direction, it is possible to set the mounting angle continuously. Furthermore, instead of screw fastening, a turntable with a stopper may be used.

[0048] Next, we will explain the operation of the vibration characteristic evaluation device 100 according to this embodiment, which is configured as described above. First, as shown in Figures 3 and 4, the axle 21 of the wheel holding mechanism 103 is inserted into the opening 11 of the omni-wheel 10, the vibration characteristics of which are to be measured. As a result, the omni-wheel 10 is supported by the axle 21.

[0049] In this state, connecting plate 29 shown in Fig. 3 is fixed to guide member 37 shown in Fig. 1 at a desired angle, i.e., any of the angles of 0°, 45°, and 90° shown in Figs. 5 to 7, by aligning through hole p formed in guide member 37 with through hole q formed in connecting plate 29 and inserting screws into through holes p and q. As a result, wheel holding mechanism 103 can be connected to guide member 37.

[0050] The sliders 24a and 24b provided on the wheel holding mechanism 103 are capable of sliding up and down. Therefore, the omni-wheel 10 pivotally supported by the wheel holding mechanism 103 comes into contact with the running path 51 (see FIG. 1).

[0051] When a user inputs a drive command to the controller 62 (see FIG. 2) of the control device 104, the drive motor 38 rotates in a desired direction. That is, when a drive command is input to the microcomputer 61 shown in FIG. 2, an operation command signal is output to the driver 64. The driver 64 outputs a control PWM signal to the driver 64. The driver 64 drives and rotates the drive motor 38 so that the drive motor 38 rotates in a set direction at a set speed.

[0052] 1 rotates, causing the belt 36 stretched between the drive pulley 35a and the driven pulley 35b to move along the longitudinal direction of the base 101. The guide member 37 connected to the belt 36 moves along the longitudinal direction of the base 101 as the belt rotates, and the wheel holding mechanism 103 connected to the guide member 37 slides. That is, the omniwheel 10 connected to the wheel holding mechanism 103 runs on the running path 51.

[0053] 3 and 4, a sensor 28 is installed on the axle holder 27. Therefore, the sensor 28 can detect the acceleration in three dimensions that occurs when the omni-wheel 10 travels on the travel path 51.

[0054] The inventors carried out experiments shown in the following Examples 1 and 2 using the vibration characteristic evaluation apparatus 100. The experimental results of each example will be described below.

[0055] Example 1 Using the vibration characteristic evaluation device 100 according to this embodiment, the vibration characteristics of a relatively large double omni-wheel with a diameter of 254 mm were evaluated experimentally. The mounting angle of the omni-wheel 10 was set to 0° (the state shown in FIG. 5) and 90° (the state shown in FIG. 7), and the wheel was moved back and forth on a smooth road 51 at a speed of 10 cm / s. The acceleration time response in the vertical direction during the run was measured using the sensor 28. FIG. 8 is a graph showing the acceleration response when the mounting angle was 0°, and FIG. 9 is a graph showing the acceleration response when the mounting angle was 90°.

[0056] The vibrations inherent to the structure of the omni-wheel 10 are thought to be caused by the auxiliary rollers 14, 15 attached to the omni-wheel 10 coming into contact with the running path 51. In addition, because the auxiliary rollers 14, 15 are attached at equal intervals to the omni-wheel 10, the vibrations that occur are thought to occur periodically if the vehicle is traveling at a constant speed.

[0057] Comparing the case where the mounting angle is 0° (Fig. 8) with the case where the mounting angle is 90° (Fig. 9), the vibration should be smaller in the case where the mounting angle is 90°, because only one auxiliary roller is in contact with the running path 51. This tendency can be read from the graph in Fig. 9. Therefore, it was proven that the vibration characteristics resulting from the shape of the large omniwheel 10 could be measured.

[0058] Example 2 As Example 2, the inventors placed a long acrylic rod 52 with a square cross section on a running path 51 in a direction perpendicular to the running direction of the running path 51 as shown in Figure 10, and measured the vibration characteristics using a double omni-wheel with a diameter of 254 mm as the omni-wheel 10, similar to that of Example 1. In other words, the vibration characteristics of the omni-wheel 10 were measured under conditions in which artificial unevenness was generated on the running path 51.

[0059] The mounting angle of the omniwheel 10 was set to 90° (as shown in FIG. 7), and the vehicle was moved back and forth along the running path 51 in the direction of arrow Y at a speed of 30 cm / s. FIG. 11 is a graph showing the acceleration response when the acrylic rod 52 is not installed, and FIG. 12 is a graph showing the acceleration response when the acrylic rod 52 is installed.

[0060] As shown in Figure 11, when the mounting angle is 90°, only one auxiliary roller of the omniwheel 10 comes into contact with the ground, so when the acrylic rod 52 is not installed, that is, when the running path 51 is smooth, almost no vibration occurs.

[0061] In contrast, as shown in Fig. 12, when the acrylic rod 52 is installed, that is, when the running path 51 has unevenness, it is understood that an impact occurs when the auxiliary roller goes over the unevenness. It is thought that the presence of unevenness causes instantaneous vibration with large amplitude.

[0062] In other words, when the omni-wheel passes over the acrylic rod 52, a waveform having a peak in the acceleration response is measured, and it can be seen that the vibration caused by the road surface that the omni-wheel receives when scanning the road surface irregularities can be measured.

[0063] As described above, the vibration characteristic evaluation device 100 according to this embodiment includes a base 101 installed on the track 51, a slide mechanism 102 equipped with a guide member 37 and configured to slide the guide member 37 in a direction parallel to the track 51 at the top of the base 101, and a wheel holding mechanism 103 attached to the guide member 37 and configured to fix the omni-wheel 10 (omnidirectional wheel). The wheel holding mechanism 103 includes an axle holder 27 that supports the omni-wheel 10, sliders 24a and 24b that are installed between the axle holder 27 and the guide member 37 and slide in the normal direction to the track 51, and a sensor 28 that detects acceleration generated in the omni-wheel 10.

[0064] In this embodiment, the omni-wheel 10 is not fixed to a shaft, so there is no problem with movement being restricted due to torsion of the shaft. This allows the movement stroke of the omni-wheel 10 to be longer, making it possible to evaluate vibration characteristics with higher accuracy.

[0065] In this embodiment, the wheel holding mechanism 103 is installed below the guide member 37. Therefore, when the omni-wheel 10 is run on the runway 51, even if there are unevenness in the runway 51, the sliders 24a, 24b absorb the vibrations caused by the unevenness, thereby reducing the effect of the unevenness. In addition, by placing a weight on the guide member 37, it is possible to simulate the weight of a housing mounted on the omni-wheel 10, allowing for more accurate evaluation of vibration characteristics.

[0066] In this embodiment, the installation angle of the wheel holding mechanism 103 relative to the guide member 37 can be changed. Therefore, the omni-wheel 10 can be run at any installation angle, such as 0°, 45°, or 90°, and vibration characteristics for each installation angle can be easily obtained.

[0067] In this embodiment, the sensor 28 is installed near the omni-wheel 10, so it is possible to detect with high accuracy the acceleration in three-dimensional directions that occurs due to the structure of the omni-wheel 10. This makes it possible to improve the measurement accuracy of vibration characteristics.

[0068] In this embodiment, a belt 36 is stretched between the first frame member 32a and the second frame member 32b, and the drive motor 38 is driven to rotate to move the belt 36 and move the guide member 37. This allows the wheel holding mechanism 103 to move stably, making it possible to obtain the vibration characteristics of the omniwheel 10 with higher accuracy.

[0069] The slide mechanism 102 is provided with the two rails 34a, 34b and the slide portion 37a that allows the guide member 37 to slide, so that the wheel holding mechanism 103 can be moved smoothly.

[0070] In this embodiment, the base 101 is made of aluminum, which makes it possible to increase the rigidity of the entire vibration characteristics evaluation device 100. By increasing the rigidity of the entire device, the natural frequency of the device appears in a higher frequency range than the natural frequency of the omni-wheel 10 to be measured, making it possible to improve the accuracy of measuring vibration characteristics. Furthermore, by increasing the rigidity, it is possible to easily obtain the movement stroke required to evaluate a large omni-wheel, for example, with a diameter exceeding 100 mm.

[0071] Furthermore, by placing a weight on the upper surface of the guide member 37 shown in FIG. 1, it becomes possible to simulate the weight of a mobile carriage equipped with omni-wheels 10, thereby enabling evaluation of vibration characteristics with higher accuracy.

[0072] As shown in Example 2, by installing the acrylic rod 52 on the running path 51, it becomes possible to easily obtain the vibration characteristics when the omni-wheel 10 runs on an uneven surface. Furthermore, by narrowing the width of the acrylic rod 52, an impulse signal is given to the omni-wheel 10, making it possible to detect the static natural vibration mode of the omni-wheel 10 alone.

[0073] Furthermore, by making the acrylic rod 52 into a wide plate, it is possible to simulate the situation in which the omni-wheel 10 overcomes a step. In this case, a step wave is applied to the omni-wheel 10, making it possible to detect the vibration characteristics of the omni-wheel 10 alone.

[0074] The control device 104 of the present embodiment described above may be, for example, a general-purpose computer system including a CPU (Central Processing Unit, processor) 901, a memory 902, a storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive), a communication device 904, an input device 905, and an output device 906, as shown in Fig. 13. The memory 902 and the storage 903 are storage devices. In this computer system, the CPU 901 executes a predetermined program loaded onto the memory 902, thereby realizing each function of the control device 104.

[0075] The control device 104 may be implemented by one computer or by multiple computers, or may be a virtual machine implemented on a computer.

[0076] The program for the control device 104 can be stored on a computer-readable recording medium such as an HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), or DVD (Digital Versatile Disc), or can be distributed via a network.

[0077] The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the present invention. [Explanation of symbols]

[0078] 10 Omniwheel 11 Opening 14, 15 Auxiliary rollers 21 axles 22, 26 Bearing section 23 Fixing plate 24a, 24b slider 27 Axle holding part 28 Sensors 29 Connecting plate 32a First frame member 32b Second frame member 33 Pillar 34a, 34b rails 35a Drive pulley 35b Driven pulley 36 Belt 37 Guide member 37a Sliding part 38 Drive motor 51 Running Track 52 Acrylic rod 61 Microcomputer 62 Controller 63 Display section 64 Driver 100 Vibration characteristic evaluation device 101 Mounting stand 102 Slide mechanism 103 Wheel holding mechanism 104 Control device

Claims

1. a platform installed on the travel path; a slide mechanism including a guide member and configured to slide the guide member in a direction parallel to the travel path at an upper portion of the platform; a wheel holding mechanism attached to the guide member and fixing the omnidirectional wheel; The wheel holding mechanism includes: an axle holder that supports the omnidirectional wheel; a slider that is installed between the axle holder and the guide member and slides in a normal direction of the travel path; a sensor for detecting acceleration occurring in the omnidirectional wheel; A vibration characteristic evaluation device comprising:

2. The wheel holding mechanism is installed closer to the travel path than the guide member. The vibration characteristic evaluation device according to claim 1 .

3. The wheel holding mechanism is capable of changing the angle at which it is installed relative to the guide member. The vibration characteristic evaluation device according to claim 1 or 2.

4. The sensor is installed near the axle holder. The vibration characteristic evaluation device according to claim 1 or 2.

5. the mount includes a first frame member and a second frame member disposed opposite each other, The slide mechanism includes a belt stretched between the first frame member and the second frame member and connected to the guide member; a drive motor for moving the belt between the first frame member and the second frame member; The vibration characteristic evaluation device according to claim 1 or 2, comprising:

6. The slide mechanism is capable of changing the direction and speed of movement of the belt. The vibration characteristic evaluation device according to claim 5 .

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