トンネル検査用可変ガイドフレームの機構と形状制御に関する研究

―第８報，フレームの動的解析と力制御による手動形状変化―

抄録

The guide frame for tunnel inspection consists of multiple variable shape trusses (VGT), and the shape of the frame can be changed to avoid obstacles inside the tunnel. Since this guide frame holds the structure, it cannot easily change its shape and is controlled by the extension of the actuator. On the other hand, for the purpose of manipulating the shape of the frame easily, we investigated a deployment method using a force control technique. The manual external force on the guide frame was detected by a force sensor, and the axial force acting on each frame was analyzed by the finite element method. By appropriately controlling the extension speed according to the axial force acting on the actuator, it is possible to smoothly change the shape of the guide frame. In this report, the force control and analysis of shape change, feedback control, and operation experiments.