緊急脱出のためのワイヤ駆動式伸縮機構を有する３インチ管内検査ロボット「Xbot 1」の開発

抄録

This paper proposes a new emergency escape-ready 3 in in-pipe inspection robot “Xbot 1”, which combines a wire driven mechanism with parallel elastic elements in a link mechanism and a backdrivable rack-and-pinion mechanism. To examine the validity of the mechanism, a prototype of the proposed robot was fabricated and tested on an actual force main. Despite the harsh and slimy environment with sewage, the robot successfully traveled 7.5 m, including one bend with connecting part.