抄録
This paper presents a prototype of a new mobile robot which is able to move in long distance. The robot is driven by pneumatic and vacuum presure and made by a flexible rubber bellows which is 85mm in outer diameter. The pneumatic pressure is used to strech and the vaccuum pressure is used to shrink the bellows. The mobile robot is equipped two thin friction-rings which are located at the front and the rear of the bellows, 20m long and feeds pneumatic and vacuum pressure to robot. The friction ring are 101mm in outer diameter and 2mm thin made of nitrile butyl rubber. We obtained the maximum spped of 42mm/s in straight-pipe at the pneumatic pressure of 0.20 Mpa, the vacuum pressure of -0.085 Mpa, and cycle time of 3.0s.
