押付力調整機構を搭載したベルト昇降ロボットの解析と制御

抄録

The robot that climbs a belt with a pressing force adjustment system have been developed and studied to examine the load on the motor and the slippage of the rollers in terms of electricity consumption. From previous studies, we knew that climbers started without slipping would need to push the rollers excessively, but on the other hand, pushing the rollers too hard would overload the motor during ascent and slow down the robot. We found that controlling the pressing force improved the electricity consumption more than the constant pressing force. Additionally, by adopting that mechanism, we have obtained data on climbing with various constant pressing forces and analyze the behavior and these properties.