Mechanism to change the air jet direction around two axes for hose type robot

Abstract

Hose type robot is useful for search and rescue mission in narrow spaces. We have proposed air jet type hose type robot whose tip can float in air. The air float hose type robot can move over higher steps and change the moving direction easily. So far, we designed the mechanism to change the air jet direction around one axis. However,for better mobility,air jet direction should be controled around two axes. In this paper we suggest how to change the air jet direction around two axes.