細径管内検査のためのマイクロ車輪型移動ロボットの駆動検証

抄録

In recent years, many of the piping systems used in Japan are more than 50 years old, and the risk of rupture due to aging is increasing. That is why, Research on mobile robot which can move inside pipe has proceeded. However, general mobile robot can only be used in large-diameter pipe. In this study, micro wheeled mobile robot for Small-diameter Pipe-inside test is invented. Main parts of the robot are made by stereolithography 3D printer. Also, a micro ultrasonic motor whose torque per unit volume and rotational speed is high is used as the actuator. The highest rotational speed which is really measured was about 3000 rpm at 40 V_p−p. In this study, a geared motor combining a micro ultrasonic motor and a planetary gear system will be fabricated, and the mobility performance of the robot equipped with it will be evaluated.