スパイラル昇降を可能とする昇降ロボットの開発と制御

抄録

We developed a rope-type climbing robot that enables spiral climbing for the purpose of infrastructure inspection. This robot has a spiral propulsion mechanism that controls the attitude by tilting the roller to the tether. We developed a two-wheel spiral climbing robot equipped with a wheel drop prevention plate. The wheel drop prevention plate has the function of preventing the wheels from falling off. Then, we configured optimal synchronous control system of the two rollers to reduce the load on the motor. The attitude of the spiral climbing robot was controlled by PID control, and it was confirmed that the robot followed the target attitude.