2P2-D31 バルーン-ケーブル駆動ロボットシステムの姿勢安定性の検討

概要

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The quick and safe victims search activities are the most important processes of rescue operations at the time of a large scale urban earthquake disaster. The robots for search and rescue (e.g., aerorobots, crawler type robots) have been studied extensively recently. We have developed a balloon type cable-driven robot system for searching victims and collecting information from sky. The robot system is constructed by three actuators (AUs), a sensor unit (SU) with a camera and several sensors, a balloon, and three cables. Three cables connect a SU and three AUs. The SU and the balloon are driven by expansion and contraction of the cable length. The stability of position and orientation of a SU is required to eliminate camera shaking resulting from wind. This study verifies the stability of position and orientation of a SU by changing the number of cables connecting a SU and a balloon.
一般社団法人日本機械学会の論文