大出力ワイヤ巻き取り機と大径タイヤを有するワイヤ駆動空中移動ロボットの開発

抄録

Robots are required to operate in areas where there are many obstacles or where there is no stable ground. To realize this by flying freely in the air, we designed and created a wire-driven aerial mobile robot with high-output wire winders and large-diameter tires. To realize dynamic motion, we designed a high-power wire winder with a maximum tension of 350[N] and a winding length of 15[m]. The large-diameter tire was designed for use as a tire on the ground and for attitude control in the air. In addition, large rubber was used on the outside of the tires to reduce the fall impact.