法面点検作業の自動化支援を目指した流体ロープウェイの開発

―第2報：全方向移動の生成―

抄録

In this paper, we propose an omnidirectional fluid powered ropeway that travels on a slope. The slopes need to be inspected and repaired regularly to prevent accidents such as collapses, but due to lack of personnel, inspection work is not enough. Therefore, a robot that works on a slope instead of humans is required. In this study, we aim to develop a compact and lightweight fluid ropeway that can travel on slopes in all directions and inspect and repair slopes without traffic restrictions. We proposed a method combining a fluid powered ropeway and spherical shell mechanism. We have verified the effectiveness of the prototype through indoor experiments.