段差通過が可能な「ねじ原理」移動作業マイクロロボットの研究

概要

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This paper proposes a step climbing mechanism for the " screw principle microrobot" to climb and pass automatically a step existing between pipes with different diameters without any special actuators nor motion control. For the purpose, the relation among the height of step, tire size, and driving torque is first theoretically analyzed and is experimentally examined. Based on the diagrams drawn using the obtained relations a step climbing mechanism to climb and pass both of concentric and eccentric steps between two pipes of 100mm and 75mm diameters is designed. A " screw principle microrobot" is then assembled by connecting the two step climbing mechanisms with a connecting coil spring. It can pass the steps automatically aud smoothly, also the running performance is experimentally examined using some pipes which have a step at different posrtrons.
公益社団法人精密工学会の論文
2000-04-05