不整地を高速移動可能なはね付きクローラの登坂性能検証

抄録

Various unmanned exploration robots such as volcano exploration robot and rescue robot have been developed. These robots require high traveling performance on rough terrain in order to move on unknown field. From the point of Rapid observation, the moving speed and cost of the operation are one of important ability of these. Therefore we developed ``Blade-type crawler'', which have high traveling performance on rough terrain keeping fast moving and simple mechanism. We conducted the field test on various rough terrains in volcanic field at Izu-Oshima. In the result, it was confirmed qualitatively that this has high traveling performance. In this research, in order to provide the design method of this mechanism, the tests in the traveling performance and climbing performance are tested with various parameters such as the blade length, wheel rotation speed and velocity of the vehicle. In addition, by blade length same as wheel diameter, high rotational wheel speed, a trend is shown that the slip rate is decreased. Hence, it is confirmed that this system is possible to perform robustness system which can travel at a constant velocity without affected road surface irregularities.