二重螺旋移動ロボットにおける螺旋把持のためのワイヤ巻取機構の開発と握力測定

抄録

This paper addresses development of grippers of the double spiral mobile robot and discussion of its performance by measuring grip force. The double spiral mobile robot has been proposed for providing mobility for the wetland survey. It consists of two pairs of spirals and a four-legged robot. The robot needs to walk on the spirals avoiding tumble. Therefore, the grippers on the tip of the leg have to grasp the spirals tightly. In this research, we developed a prototype of the wire winding mechanism for grip motion and evaluated the wire tension and the grip force. The developed prototype realized the grip force of 183N using 12-volt power window lift motor at the current of 4A. This result implies the positive outlook to develop the gripper generating the required grip force of 758N by improving the efficiency of the transmission mechanism and applying more electrical current.