スーパー繊維クローラロボットVAMOSの開発（高強度繊維を用いたクローラの開発およびその実験評価）

抄録

In this study, we develop a new track having a belt made of a fiber and experimentally evaluate its traveling performance. The developed track has a belt made of a high strength and high modulus super fiber. In this track, the tension of the belt is adjustable and the misalignment of the belt along the track travel can be prevented. To evaluate the traveling performance of this fiber track, we conducted two types of experiments in a sandbox covered with loose silica. Traveling tests were first conducted using a single-track traveling test system. In the tests, tracks, which had belts made of various materials and different structures, traveled while pulling various traction loads, and the relationship between drawbar pull and slip ratio of each track were measured. From the experiments, it was shown that the track made of a para-aramid mesh had a high traveling performance. Subsequently, a mobile robot named VAMOS, which is equipped with four tracks made of the para-aramid mesh, was developed. Traction tests were conducted using VAMOS in the sandbox. In the tests, VAMOS traveled on a loose ground while pulling various traction loads. From the traveling tests using the VAMOS, it was quantitatively confirmed that the developed track had high traveling performance on a mobile robot.