2A1-F14 丈長草地における螺旋推進機構の推進特性

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This paper describes propulsive characteristics of a rotating spiral. These days, the wetland area has decreased, and the water examination was done for environmental preservation. People who made the examination was entered the wetland on foot and it was researched. However, it required hard labors and time due to wetland grass and mud. Therefore, the mobile robot to support the research works are requested. In general the crawler and some other mechanisms are popular for the locomotion system in the uneven terrain. However, they are inadequate to move in the wetland because it probably crashes the grass in the wetland. Then, the propulsion mechanism using the spiral is being developed to move in the wetland. To realize it, we developed the rotary drive equipment for spiral rotation. The relation between the static torque and the load was examined for the design. The relation between the dynamic torque and the traction of spiral examined by the equipment. Then, the relation was formulated and the formula was compared with experiment value.
一般社団法人日本機械学会の論文