円筒状柔軟弾性クローラの湿潤環境下におけるグリップ力向上の検討

―カエルの足裏構造を参考にしたベルト試験片の製作と評価―

抄録

We have developed a cylindrical flexible elastic crawler robot inspired by amoeba locomotion. This robot allows the elastic deformation of crawler belts, enabling the robot to adapt to various pipe shapes, such as L-shaped and irregular pipes, without the need for additional mechanisms or actuators for retention and adaptation to the pipe geometry. However，the problem of this robot is the reduction of its gripping force underwater. In this study, we hypothesized that by forming fine groove structures on the contact surface of the crawler belt and incorporating a drainage function, we could significantly enhance the belt's grip force. As the first step, this study aims to clarify the effect of the groove structure on the static frictional force by conducting elemental tests using rubber specimens. This report describes the evaluation of the gripping force of the grooved rubber underwater.