Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In this paper，we propose a Center-of-Gravity(CoG) movement device using the differential screw drive mechanism for glider type small underwater robots．The differential screw drive mechanism consists of a right-hand and left-hand screw-nut mechanism．The rotational and translational movement of nut is achieved by the differential motion of two screws, and the position of the CoG is changed according to the movement of a weight．Therefore，the CoG movement device can control the posture of the robot．Double-nuts and springs are embedded to the CoG movement device to remove the backlash．We evaluated the effect of the backlash removal mechanism by experiments and confirmed its effectiveness．
