Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In recent years, research for automating the inspection of concrete structures using multi-copters has been actively conducted. In particular, the development of tethered multi-copters has attracted widespread attention. However, since the feeding cable is connected to the power supply, the tension of the cable affects the multi-copter as a disturbance. Therefore, it became difficult to approach the inspection location for tethered multi-copters. In this paper, we apply the catenary theory, which has been widely used for adjusting the tension or length of a multi-copter feeding cable in a two-dimensional space, to a tethered collision-tolerant multi-copter in a three-dimensional space. In addition, we report a method of minimizing the disturbance of the feeding cable by adjusting the length of the feeding cable as needed in a three-dimensional space.
