2A1-F28 ノーバックドライブ機構を利用した垂直昇降移動機構の動作モードの拡張

抄録

This paper describes about a vertical movement climbing robot using worm gear. The worm gear has a characteristic that about two digit reduction ratios with one step and is not driven reversely to the drive side. Using this characteristic, we developed the robot which prevented a fall by reverse drive even if a motor stopped during going up and down. In this paper, we describe about climbing mode and turning mode. We checked the operation of the climbing mode in speed feedback control and positioning with the turning mode.