Abstract
In this paper, a remote control mechanism for the crawler-type robot by use of flexible shafts is proposed. Since the robot does not have to mount any power unit for the locomotion on the body, the weight of the robot can be lightened and it can mount other devices alternatively. Furthermore, since the electric power is not used to the mobile mechanism on the body, the danger of fire is extremely low even if it performs rescue operation in collapsed building with gas leakage. To construct the proposed mobile mechanism, we devise the structure of the flexible shafts. We make up an experimental crawler-type robot which is composed of the proposed mechanism. Then the feasibility of the remote control system with the proposed mechanism is demonstrated by several experiments.
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