車輪移動式壁面移動装置の踏破性能向上の研究

概要

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Robots capable of moving on vertical walls have been searched for a long time. They are applied for rescue or fire-fighting in a high-rise building. Several types of wall-climbing robots have been developed in our laboratory for 25 years. A wall-driving robot was developed in 1994, and it could move on a vertical wall by using thrust force of two propellers and wheels. This model is easily controlled on a flat wall, but was difficult to use on an irregular wall. In the previous year, to solve this problem, the mechanism of wall-climbing of propeller type was simulated on a computer, and particular attention was paid to and maneuverability in the movement of this robot. A test model is manufactured this year and the experiments confirm that the model can move on an irregular wall by using a computer-aided control system.
宮崎大学の論文