2P1-C04 Development of a spiral propulsion mechanism for locomotion on wetlands : Relation between starting torque and traction force

Abstract

This paper addresses traction properties of a spiral propulsion mechanism in Sasa field. Recently, area of wetland has been decreasing due to farmland development and so on, and the environment of wetland is surveyed. There is a demand of development of robots which support the surveys, because it is difficult to move in wetland. Spiral propulsion mechanisms have been proposed for movement in a wetland. The traction properties of the spiral propulsion mechanism in Sasa field is investigated. The relation between initial torque and traction are formulated. The data of the experiment fit the formula well in range less than a certain value of traction.