壁面吸着機構に基づくヘキサコプタの開発

抄録

Social infrastructures such as tunnels and bridges are aging in Japan. In order to achieve the automated inspection by robotics technology, inspection multirotors with adhesion mechanism are developed. We developed the multirotor with Universal Vacuum Gripper (UVG) as the adhesion mechanism. UVG is a kind of vacuum sucker with deformable lip part composed of an elastomer and powder, which can freely deform along the uneven surface and prevent air leakage. Inspection equipment is required for infrastructure inspection work. Therefore, a multi rotor with a large payload amount is required. In this research, we developed a large-sized hexacopter which can hold a suction drive source and can adhesive on the wall with horizontal propulsion mechanism.