ケーブル牽引を補助するCrank Tether Thrusterの開発

抄録

The movable range of tethered teleoperated robot which has no cable reels is quite limitted since the cable generate large friction force with ground and obstacles. In this research, we will propose a novel system which consists of many thruster module, and supports teleoperated robot pulling its cable. As a prototype of this system, we developed ”Crank Tether Thruster”(CTT) modules which consist of crank wheel mechanism, tension sensors, and an accelerometer. As a result of comparative experiment pulling cable with / without CCT modules, it is confirmed that cable pulling tension became lower in both straight corridor and edge corner.