2P1-D29 ファン-スライダ・クランク機構を用いた壁面登攀ロボットの開発

概要

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In recent years, robots that can substitute for humans in dangerous activities, contributing to safety, cost reduction and efficiency have been developed. For example, a wall-climbing robot can clean and inspect high places, and approach disaster sites where a person cannot reach. In this study, the locomotion of snails is used as an effective wall-climbing mechanism. A snail moves by generating travelling waves with its muscle elasticity and propagating the wave in the direction of movement. Since this locomotion mechanism is in contact with a large area of ground, it is extremely stable. This is advantageous in climbing unstable walls. The proposed robot uses several slider cranks for locomotion and a fan to adhere to the wall by suction. We confirmed that this robot successfully climbs various walls.