成果報告書詳細
管理番号20160000000553
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 (革新的ロボット要素技術分野)次世代機能性材料 機能性ポリマーを用いた移動ロボットの吸着機構の研究開発
公開日2016/7/27
報告書年度2015 - 2015
委託先名名城大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Summary of the project of “Research of New Absorption mechanism for Robot using Functional Polymer”

We propose a new absorption mechanism for wall climbing robot. In the previous study of
the wall moving robot, the absorption mechanism deviated from the wall by the irregular shape,
the dust, the rust or the sand. The purpose of this research work is to develop the absorption
mechanism using the assist of the wet polymer. We call this absorption system “Super Wet Adsorption (SWA) module”.
The SWA has porous soft pad and capillary structure polymer. The porous pad is used to attach the surface of the wall
for absorption assist by water. The capillary structure is used to control the amount of water. We use this SWA module
for wall climbing robot.

In this term, we perform the following research work:
1. Design and fabrication of porous pad
We made the porous pad by using sugar reaching method. We use PDMS for the material of the porous pad.
We mixed the PDMS and sugar, and cure the PDMS. Then, melt the sugar by water, we can make the porous PDMS pad.
It is soft, and can be contain the water. We evaluate the ratio of the PDMS and sugar quantity, the 100 PDMS and 75 sugar is the best.

2. Design and fabrication of capillary structure
We made the capillary structure by using PDMS and sugar string. We mix sugar and water, and it is heated.
After heating, the mixed sugar is cooled and stretched, we can made sugar sting. The string sugar is mixed with PDMS,
and cured and melted by water. So we made capillary structure.

3. Experiment and Evaluation of SWA module
We perform an absorption test experiment of porous pad. We use vacuum pomp and commerce vacuum pad.
Our porous pad is attached at the outside of the vacuum pad. We test, non-porous pad, dry porous pad,
and wet porous pad. We use flat concrete block and rough surface stone. Totally, the absorption force is high by
using wet porous pad. Especially, a part of the rough stone, we can’t vacuum the commerce vacuum pad, but with
wet porous pad, the pad is vacuum strongly.
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