水中壁面移動ロボットのための非接触吸着機構の研究

概要

論文の詳細を見る
The investigation described in this paper was undertaken to clarify the feasibility of a non-contact adhesive mechanism for underwater wall-mobile robot. This non-contact adhesive mechanism consists of a vortex cup with tangential nozzle and a wall. Water flows into the vortex cup through the tangential nozzle, and swirling flow occurs inside the cup to create a vacuum pressure at the central area of cup. This vacuum pressure causes the adhesive force. And non-contact adhesion is realized, because the water is delivered to the surrounding through a gap between the cup and wall. In this paper, the author clarifies that the non-contact adhesive mechanism can be applied to the underwater wall-mobile robot. And the author also discusses the relationship between the adhesive force and the gap