抄録
Recently, spiral-based mobile mechanisms were proposed in order to help the activities to protect the wetlands. They are expected to be used as carriers in the field survey of wetlands and to prevent treading on scarce plants and sinking into muddy ground. Preceding study has proposed a mechanism for walking the robot without falling from the spiral. However, force analysis to maintain the balance, such as a leg closing force in obliqueness. In this paper we analyzed the leg closing force to maintain the balance by means of the statics calculation the formula and the robot dynamics simulator, and found the condition for a stable standing, i.e. Force more than 390[N] was necessary for the leg closing mechanism. It can be utilized for development of the leg mechanism.
