2A2-J08 能動スコープカメラのための柔軟性を有する直動アクチュエータの開発(アクチュエータの機構と制御)

Abstract

We developed the Active Scope Camera by the Ciliary Vibration Drive as a snake type Rescue Robot. Moreover, to make it possible for Active Scope Camera to run on the soft road and intense ruggedness road where the it cannot run by the Ciliary Vibration Drive, we also developed the Inch-worm Drive used frictional anisotropy. However, the flexibility of the Active Scope Camera decreases because it uses the hard Pneumatic Cylinder as a Linear Actuator. In this paper, we propose a Flexible Cylinder to solve this problem. In addition, we made the prototype of Flexible Inch-warm Drive used the Flexible Cylinder and valuate driving performance of it by comparing with the past, Active Scope Camera.