成果報告書詳細
管理番号20150000000554
タイトル*平成26年度中間年報 インフラ維持管理・更新等の社会課題対応システム開発プロジェクト インフラ維持管理用ロボット技術・非破壊検査装置開発 複合センサ搭載ワーム型多関節ロボットの研究開発
公開日2015/8/13
報告書年度2014 - 2014
委託先名株式会社タウ技研
プロジェクト番号P14011
部署名ロボット・機械システム部
和文要約
英文要約Abstract:
Title:Development of the Worm-like mobile robot equipped with compound sensors
This report summarizes the achievement in fiscal year 2014 for the project, "The development of the worm-like mobile robot equipped with the compound sensors". The project has started on 3rd July 2014.
Long articulated body mobile robots such as snake and/or worm-type robots possess small cross-sectional area, and have inherent ability to move along narrow paths and even through inside rubbles. We have proposed an externally driven motion concept for a very long worm-type robot to be used in during tasks like maintenance and inspection of infrastructures such as tunnels and so on. This robot will be equipped with compound sensors comprising of gas sensor, cameras and radars.
1.The development of the first mechanical prototype.
To move smoothly into collapsed tunnels and deep debris, we designed an articulated robot consisting of number of identical modules with no wheel, are connected together. The splendid feature of this robot is to have the hollow cylinder space inside of the robot. Through this space a gas inlet tube can reach the sensor head which is located at the very tip of the robots.
Each module has two degree of freedom between the yaw axis and the pitch axis. The diameter of each module is 150mm. The distance between yaw axis and pitch axis is 260mm. The total length of module is 500mm. Each axis has one pair of spiral bevel gears, pinion gears and motors which is equipped with the reduction gears and the planetary gears. The maximum motor output is 125W, and maximum torque is 2Nm.
We have conducted the functional test using 150mm module, and we have found that the test has been successful. Both axis, yaw and pitch, moves smoothly and are controlled by driver software.
2.The development of the compound sensors head.
To navigate the forward movement, the sensors head has two high definition cameras, four bright LED lamps, radar sensor, and a gas inlet port. Also, the sensor has the roll axis rotation system to provide a normal direction view. The diameter of sensors head is 150mm.
3.The designation of propulsion system for long articulated body mobile robots.
To propel long articulated body robots, we have designed propulsion system using three caterpillars.
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