1A1-R10 原発等の狭隘環境で作業を行う能動車輪ヘビ型ロボットの開発(極限作業ロボット)

抄録

For inspection tasks in narrow and uneven enviroments such as disaster sites like Fukusima Daiichi nuclear plant, advanced mobile robots which can navigate these challenging environments are required. Snake-like robots are one of the candidates for such mobile robots due to their slender and flexible body. However, existing snake-like robots cannot get over large obstacles such as steps and doors, because they have been mainly focused on extremely narrow environments. Therefore, we propose a new snake-like robot "ACM-R8", which is equipped with large wheels powered by motors. In order to improve its traction, we newly introduce "Swing Grousers" which realize smooth wheel shape but can catch the edges of obstacles effectively. In addition, we also propose "Ball Wire Guide" to decrease the friction resistance of the power supply cable.