3ユニット型配電線移動ロボットに関する研究 : 構成及び障害物回避法

概要

論文の詳細を見る
At the wire mobile robot, when avoiding obstacle such as the insulator which exists on the wire, because the exchange movement in the running part such as the wheel becomes necessary, the securing of attitude stability is difficult. Therefore, either of these points for the wire mobile robot which was proposed so far had a difficulty. On the other hand, the robot composed 3-units which we are proposing can alwasys keep an attitude at stability. Also, as for this robot, it is possible to avoid and the obstacle which is large comparatively has the function which corresponds to the wind wire and the brance wire. In this paper, the structure and the obstacle avoidance method of this robot composed 3-units are described. Also, it examines the control method and the design method of the balancer which is the most important part at this robot.
社団法人日本機械学会の論文
2000-07-25