住宅ダクト用蠕動運動型ロボットにおけるユニットの動特性に着目した速度向上の提案

抄録

Periodic cleaning is necessary for the duct which performs ventilation inside the house. However, existing duct cleaning tools are difficult to clean thoroughly. Therefore, a duct cleaning robot is required. In the previous study, we focused on a peristaltic motion type robot and developed a peristaltic motion type duct cleaning robot for 75 A duct. We conducted a cleaning experiment. The usefulness of a peristaltic motion type robot was confirmed from a speed of 6.1 mm / s and a cleaning rate of 99%. Therefore, in this paper, we first develop robots that are compatible with 50 A ducts that are popular in Japan. However, it is difficult to achieve the target speed simply by miniaturizing the conventional robot. Therefore, we propose speed improvement by the control method focusing on the dynamic characteristics of the unit. Finally, we conduct a driving experiment and confirm its usefulness.