受動回転球殻UAVによる面状構造物点検システムに関する研究

― 第5報: UAVが複数ワイヤから受ける張力の最小化 ―

抄録

We are developing a robotic system that suspends a spherical helicopter by multiple wires for safe and highly efficient inspection of glue surfaces and bridges. This system takes the form of a UAV suspended by tethers from different directions. Minimizing tether tension is an important issue because tether tension affecting a spherical helicopter, especially when operating in "flight mode," causes flight envelope limitations and payload limitations. Depending on the installation environment, it is possible to suspend a spherical helicopter with more than two tethers. If the number of tethers suspended from different directions is increased, it is expected that the tether tensions on the spherical helicopter will be canceled out and the tether tensions will be kept small. The purpose of this paper is to propose and verify the principle of a method to minimize the effect of three or more tethers on the spherical helicopter by canceling each other's tether tension.