抄録
This research proposes a casting robot for rapid access to dangerous buildings, which aids the rescue operation by collecting information remotely. Tethered casting provides several advantages for such application, but complex to be performed due to the losses generated by being tethered. This paper proposes novel tethered casting methods for enhancement of casting height, with point of view on the tether storage method. Additionally, a pneumatic cylinder with a magnetic brake is introduced to perform the casting motion. Furthermore, a tapered form storage case is also proposed to mitigate losses between the tether and its storing case. Finally, experimental results show the validity of the proposed methods and structures.
