インフラ検査用H型クローラクライマーの開発

抄録

We have developed a crawler-type climber that moves up and down the belt tether installed in parallel, so that the inspection unit developed can be attached to the center. This allows you to inspect the wall face and cracks in the wall without any major changes to the inspection equipment and easily repair them. Since two climbers who move the belt tether up and down need to synchronize regardless of the individual difference of the motor, we performed position synchronous control, We have confirm by experiments that stable ascent and descent can be achieved with gimbal unit attached.