1A2-G15 Bari-bari-IV : 重量瓦礫内からの安全な人命救助を目指した油圧式移動探査ロボット

概要

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This research describes the development of a search and rescue mobile robot "Bari-bari-IV", which jacks-up heavy debris while sneaking into a collapsed house. Previous prototypes of the "Bari-bari" series presented some problems, such as traversing uneven terrains, vertical wobbling motion of the debris when sneaking through them, and limited jack-up driving power. Bari-bari-IV is composed of two sets of plates, which are driven in opposite phases in such a way to keep constantly the maximum jack-up height at an overlapping point. In order to realize this method by using a single hydraulic motor, a novel cam is proposed to drive the body back-and-forth and to maintain jack-up height. With this structure, Bari-bari-IV aims sneaking through debris without vertical wobbling motion, traversing uneven terrains and the possibility of jack-up a 1 ton payload. Finally, the effectiveness of Bari-bari-IV is verified by field tests in an environment similar to real situation.
一般社団法人日本機械学会の論文
2009-05-25