2A1-H21 大きな屈曲可動範囲を有する水陸両用ヘビ型ロボットACM-R7の設計に関する研究(冗長自由度ロボット・メカニズム)

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Snake-like robots are available to search buried people in disaster scene because of its slim body. This paper describes the design of the snake-like robot which is able to move on rough and narrow ground and protected against dust and water. Pedal-Wave propulsion is effective form to move on rough place. It is necessary for efficient motion to have large joint motion range. 2DOFs coupled drive system was adopted to achieve large joint motion range. In addition, it realized large torque with small motors. Bellows and gaskets were used to protect the body against dust and water. Through the motion experiments, it was possible to move by using Pedal-Wave propulsion even on rough place and it was confirmed that the larger joint motion range is, the faster the speed of propulsion becomes.
2008-06-06