S115022 ゲルとスライダクランク機構を用いた搬送システムの開発([S115-02]機械システムにおける機構の設計と要素技術(2))

抄録

We proposed to use gel that has adhension and elasticity with gastropada's robot. The advantage of this robot is to lighten the total weight, but the gel affects counterforce between each robot's legs and the contact surface. So we need to consider about the charascteristic of gel and mechanism at the same time.The motion of robot's leg on the ground resembles the motion of transportation carrier by the transportation system, so we able to view moving speed of robots to transport speed. Therefore we developed of transportaion system with gel and slider crank mechanism, evaluated the transport speed. In result, we noticed that moving speed of the gastropoda's robot with gel and slider crank mechanism was proportional to the revolution speed of input link.