ワイヤ駆動式壁面点検システムの研究開発

― 投擲装置を用いたワイヤ端点設置システムの開発 ―

抄録

In this paper, we address preparation process to wall inspection with the wire-driven robot system. The key issue to hang and move the robot system along the wall is how to fix pulley or hook at the high position of the wall. As a more practical way, we propose the method to throw the suction unit with wire up and adsorb it on the wall. We thus develop the launcher system and the suction unit with shock absorber. Through the experiment, we realize the desired motion of suction to the wall.