Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In this paper, we present about a newly developed wire-driven mechanism. The developed device is driven by three helical wires, and designed to deform two-dimensionally. When one of wires is pulled, the device deforms into a sine curve. We can control the amplitude and the phase of the sine curve by pulling lengths of the wires. This new device can imitate the motion of a previously proposed braid-type bundled-tube in-pipe locomotive device. High elasticity in the previous work, while makes it possible to travel in complicated pipe shape, introduces some difficulties into its characteristic measurement. On the other hand, the newly developed wire-driven device has a rigid structure, which can be measured easily. This shows possibility to help analyze the characteristics of the more complex bundledtube device.
