2A1-D03 Perfomance Improvement of a Flexible Driving Mechanism : Miniaturization and Speed-up of Flexible Crawler(Flexible Robot/Mechanism and its Control)

Abstract

This study proposes a new flexible robot driven by HS(Hydraulic Skeleton) mechanism. The HS crawler is composed of multiple fluid-bags. In our former system, the output force and speed is not high enough because of low durability of the fluid-bags. This report describes new reinforced bags and new HS crawler. Moving speed of New HS crawler is 39mm/s whereas 4mm/s with the former type.