2A1-B05 空気圧アームモジュールを用いた建設機械の遠隔操縦

概要

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In destructed sites, the remote control of construction machinery is often required to ensure the safety of workers during rescue activities. A pneumatic system has a high weight-power ratio, compliance and clean energy to drive. Therefore, pneumatic robot systems that consist of pneumatic actuators were applied to the remote control of construction machinery. However, there are demands to make the system compact and simple for portability and versatility in use of destructed sites. We construct a light weight 6-DOF pneumatic robot arm using 2-DOF pneumatic arm module. The robot arm is constructed by three module units. The system becomes more compact and simple using the module units. Then, we applied the remote control system to an ordinary backhoe. The effectiveness of the system was confirmed by some field tests.
一般社団法人日本機械学会の論文