地下埋設物点検用全方位移動ロボットの振動抑制に関する検討

抄録

Infrastructure facilities have been deteriorating and require a vast number of inspections conducted by skilled engineers. Inspection robots are required because of a shortage of skilled engineers. In order to improve the inspection efficiency of outdoor infrastructure facilities, an omni-directional mobile robot that can move freely in all directions has been investigated. However, it is necessary to design a vibration isolation mechanism because the accuracy of the positional inspection of underground objects is adversely affected by vibration in an outdoor environment. We have constructed an experimental setup to evaluate the vibration properties of the wheel. The acceleration characteristics due to the difference between the direction of movement and the speed of the omni-wheel have been evaluated. It was confirmed that periodic vibration occurred by each moving direction of the Omni wheel.