ヘビ型ロボットが配管内を螺旋捻転運動で推進する際の螺旋ピッチの影響

抄録

Biological snakes have a soft and long body and they can adapt to various environment in spite of its simple form. By applying them to engineering field, snake robots that move in complex environment could be realized. For example, snake robots can move in pipes of industrial plants for inspection work. We are developing a prototype of snake robot for pipe inspection. When the snake robot moves in unknown pipes, an operator must adjust appropriate parameters of the shape of the snake robot in order not to over range of maximum joint angle. In this paper, we consider a method that we set up optimum parameter especially pitch of helical form.