抄録
In recent years, a long and slender robot arm is required for entering narrow space while avoiding obstacles and doing various works such as inspection and searching at nuclear power plant, collapsed building, and so on. In this research, we established the design method of the robot arm that will be longer, lighter and slenderer than any other previous research and products with pneumatic McKibben artificial muscles which are quite light, compared with normal actuators such as a motor. Besides, toward the final objective length, 20m, we have made about 3m prototype of the robot arm and did the driving experiment of it.
