トンネル検査用可変形状フレームの機構と形状制御に関する研究

―第4報、障害物に応じた変形と動力学解析―

抄録

To improve the method of automatically inspecting the old inner wall of the tunnel, we developed a variable frame mechanism that can maintain the inspection equipment. In 4th part of the report, we report on the dynamic behavior of the frame shape in response to an arbitrary obstacle.