抄録
This paper presents the design issue of a novel mobility mechanism toward another application of rescue robots. As considering the activities of the robots within long and narrow work spaces formed by debris, it is essential to lessen the size of actuating systems. For the purpose, a mobility device using a nut-and-bolt mechanism is designed, resulting in spiral motions. In this paper, our challenge is placed on how to realize the mobility device based on the spiral motion. We describe the mechanical design and the driving mechanism in detail. Moreover, the proposed mechanism are examined and analyzed through extensive simulations.
