Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
In agriculture work, weeding work in paddy field has been physical burden and taken a lot of working time. As a solution of this problem, stopping the growth of weed by stirring the soil is affective. An example is "Duck farming" that ducks stir the mad by swimming in paddy fields. In this paper, we propose new robot that imitate snakes to stir the soil. A body segment of the snake-like robot is composed of three bending modules , continuous joint mechanism, layered gear and two wire driving mechanisms, we approximate the serpenoid curve by curves without using straight line. we have developed a prototype of a serpentine robot with a bending mechanism that generates three different curvatures inside one module by wire driving to reduce the degree of freedom. This bending mechanism makes it possible to approximate the serpenoid curve, which is the motion curve of the snake, in terms of curvature. Since the inside of the module unit needs to be bent with a certain curvature in order to derive the posture, a double joint mechanism is installed inside.An operation experiment was conducted using the developed prototype. also, We evaluated the approximation accuracy of the curvature approximation based on the airframe characteristics of the developed module, evaluated the unit ratio inside the module, and confirmed the effectiveness of the intermediate unit.
