社会インフラ構造物の検査に適した万能真空吸着グリッパを用いた壁のぼりロボット

抄録

In order to inspect social infrastructures such as bridge or tunnel, the wall-climbing robots have been developed based on Universal Vacuum Gripper, in short UVG. UVG adhere to uneven surface by the deformable rip part. The robots with UVG achieved the uneven wall climbing and move along ceiling in previous works. However, the inspection tools, vacuum pomp or battery were not equipped on the robot itself. In this paper, we proposed a novel vacuum gripper combined with inspection tool and evaluate the performance of the gripper. We also developed the inspection robot with the proposed gripper for the inspection.