起き上がり小法師型石油タンク床板肉厚測定検査ロボット“Tumbler-1”の開発

―基本設計と液中移動時の姿勢変化シミュレーション―

抄録

This paper describes a robot called “Tumbler-1” to measure the thickness of floor plates in oil tanks using an ultrasonic sensor. The robot has a structure in which the main body always stands upright by separating the center of buoyancy from the center of gravity. However, during the motion, the robot tilts due to fluid resistance, and thus, a simulator to estimate the posture in liquid was built as a part of the research and development. Finally, comparison between the simulated posture and the actual posture and thickness measurement experiments were conducted in an indoor pool.