抄録
A small mobile search robot driven with the pair of flexible shafts has been proposed. It is capable of being effectively utilized for a search inside of rubble to quickly search for victims when a disaster such as an earthquake occurs. Since it does not have to mount any power unit on the body, it is possible to construct the body of relatively light weight. But, it is likely to be unable to move forward when flexible shafts contact with obstacles. In this study, a new small search robot consisting of plural driving wheels connected by flexible shafts is proposed. We consider that the new small search robot can tug flexible shafts easily by connecting plural driving wheels by flexible shafts. To construct the proposed movement mechanism, we have to devise its structure in order to connect plural driving wheels by flexible shafts. In this report, we investigate the roadability and turning performance of the new small search robot.
