抄録
This research describes the proposal of a fluid powered ropeway aiming fast search for survivors in half-collapsed buildings. The previous robot "the throw & collect type robot", which was proposed in our lab, consisted of the following sequence : after throwing a parent robot into a disaster area, it throws a child machine equipped with a microphone and a camera, and the inspection is performed while the child machine is retrieved. However, there are two major drawbacks. One is the friction between the tube and debris when the parent robot retrieves the child machine. And the other is the high impact when the child machine falls on the ground. To solve these two problems, we propose a new process "a fluid powered ropeway". After throwing the parent robot, a ball with a flat tube, which is a tube pressurized with high temperature, is shot from the parent robot. And then, a new inspector robot equipped the microphone and the camera moves with the tube using fluid power. The inspector robot capable of both forward locomotion and transverse locomotion is designed to move smoothly with the rube.
