登はん型壁面検査装置のための減圧式吸着盤の吸着信頼性の向上

抄録

Development of efficient yet economically viable testing methods of concrete structures is socially required. Climbing testing robots are one of the solutions for it. Generally, these concrete-wall climbing robots use suction cups to support themselves however there is an obvious danger of falling. One reason for the robot to fall is slippage of the suction cups. We have developed suction cups that prevent slippage on by adding claws. Claws are attached to the suction cups to help grip the wall. In this paper scratch tests were performed in order to test the effectiveness of claws in improving the gripping force of suction cups.