4328 くねり運動による雪氷環境移動システム : フィールド試験と実現可能性(G15-6 現場への応用,G15 ロボティクス・メカトロニクス)

概要

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Field test is performed to a snake-like mobile robot in actual snow environment. A prototype is build with 6 small servos and equipments for water resistance. Electric power and control signals for servos are provided from outside with an umbilical cable. Two variations of the prototype were tested: type 1 is for to move with attached swim-fin-like acrylic plates; type 2 is for to move with its body itself like snake. As a result, only the type 2', in which polypropylene sheets are attached to the both body side of the type 2, successfully move though only when the snow in front of the body is removed. Computer simulation is performed to investigate the relation between resistant force of snow and joint torque. The result shows that the smaller and more powerful motor is required to realize the system. And more sophisticated sequence will be also required to control the power of motors.
社団法人日本機械学会の論文
2007-09-07