小口径管内走行機構の短尺化設計

抄録

This paper describes mechanism design of an in-pipe mobile robot using a wheel drive mechanism. The wheel mechanism, which is driven by planetary gears and worm gears, can both drive the wheels and press them the wheels against the pipe wall using only an actuator and simple mechanisms. In the new mechanism, the design of reducing the total length of the wheel traveling mechanism by changing the arrangement of the motor so that it can run on a curved pipe or branch pipe was made. The prototype robot has diameter of 45[mm], length of 62[mm], and weight of 60[g].