橋梁保守ロボットの作業環境を自己構築するモジュール分割型軌道構造体の開発

―レールモジュールを送り出し・回転させる機構のスケールモデルの設計―

抄録

This study presents a design example for a self-constructable modularized rail structure aiming for robotic automation of bridge maintenance tasks. The design is based on quantitative analysis of the necessary functions and constraints for operation at actual scale. The proposed mechanism for sliding and rotating rails at 1/4 scale demonstrates the feasibility of the design. The rail module is equipped with V-guide rails and a pin rack, providing two functions: the movement of the rail and the provision of an environment for the maintenance robot to move. As a full-scale system requires a large amount of torque, the scale model was designed to incorporate a mechanism capable of generating a similarly large amount of torque. To achieve these movements, an electric cylinder and a wire-driven joint rotation mechanism are installed in the scale model.