長距離配管内移動ロボットの速度向上に関する考察

―直列配置と並列配置の比較―

抄録

This paper shows a new robot which can go thorough pipes. It is difficult to pass through long pipe lines fast. In order to solve this problem, we focus on Λ-drive, which are composed of a flat tube and a slider. We propose the robot which is equipped with some Λ-drives. This robot not only propels fast and long distance, but also supplies fluid which cleans pipes by carrying supply lines. We did some experiments that how long this robot can go ahead into pipes to decide the distance between Λ-drives.