クローラとメカナムホイールを用いた階段昇降装置の開発

抄録

In 2011, an earthquake occurred off the Pacific coast of Tohoku, Japan. As a result, Fukushima Daiichi Nuclear Power Station was contaminated with radioactive material. Decontamination can be done using a robot, but it is necessary to climb up and down stairs to decontaminate the upper and lower floors. Therefore, we can achieve stair climbing by using crawlers, and traverse flat ground using Mecanum and Omni wheels. We also mounted blocks containing powder onto the crawler belt. When the powder-filled blocks come into contact with a surface, they deform and harden, generating a driving force even on surfaces with less surface friction such as a staircase. The robot is fitted with an additional mechanism that uses passive movement so the wheels can avoid the stair during stair climbing.