Universal Vacuum Gripperと回転・直動機構を搭載した壁のぼりロボット

抄録

In this research, we are developing wall climbing robot with Universal Vacuum Gripper. Universal Vacuum Gripper (UVG) is based on Universal Gripper (UG). UG is the robot hand using jamming effect of powder inside an elastomer film to grip the material with uneven surface. UVG is a vacuum pad with the deformable skirt based on UG. If the skirt shape is deformed along with surfaces, the air leak can be avoided. Therefore, UVG can grip uneven surfaces such as tile, curved surface, and so on. The wall climbing robot we are developing is a triaxial robot. It consists of two linear motion mechanisms and one rotation mechanism. Moving the robot straight and pressing the UVG with two linear mechanisms. Move from floor to wall and from wall to ceiling by rotation mechanism.