ダクト内清掃用蠕動運動型ロボットの開発

抄録

At Recent, It is necessary that ducts of ventilating installations are cleaned because increasing of dust existing inside the ducts causes an allergy and asthma. However, existing cleaning methods cannot clean the ducts that are both small diameter and many curvature points. To solve that, authors focused on the peristaltic crawling of an earthworm. This motion is suited to go through narrow pipes because it provides a large contact surface in pipes and small moving space. Therefore, the authors develop a peristaltic crawling robot for cleaning ducts. In this paper, the authors developed an experimental model of the robot and conducted a driving experiment for checking motion of it.