Active Steering Mechanism for Tip-Extending Structure

-Low-Frictional Steering System with Two-step Pivoting Link Mechanism -

Abstract

The long mobile mechanism isfor exploration in narrow spaces and has been used as a disaster countermeasure robot. In particular, the tip extension mechanism, which consists of a flexible membrane circulating on the body surface, can move without sliding against the environment, and thus has a high propulsive capability even in fragile environments. We have proposed a method of using a liquid as a working fluid and fixing the shape of the mechanism by friction with the floor surface, which greatly expands the adaptable environment of the tip extensibility mechanism. In this study, we propose a mechanism that achieves steering motion without the need for a rigid tube by attaching a mechanism that moves in the membrane by rollers to the tip bending mechanism.