天井裏配線作業ロボットのための柔軟スポーク車輪の段差乗り越え性能

抄録

A wiring task such as laying LAN cable under the roof by worker is a dangerous and an inefficient work. To improve the safety and the efficiency of the work, authors have proposed a remote controlled mobile robot for the wiring task with flexible spoke type wheels. The work space under the roof has obstacles including metal fixtures, suspending bolts and some electronic appliances. Thus the traverse ability of the mobile robot for the obstacles is very important. The spoke wheel of the mobile robot has advantage on the traverse ability comparing with normal wheels. The traverse ability of the spoke wheel depends on the number of the spokes and flexibility of the wheel. The paper discusses the traverse ability for the design of flexible spoke wheel of the remote controlled wiring mobile robot under the roof.