1A1-K12 Development of A Wave Propagation type Wall-Climbing Robot Using Fan and Slider Cranks

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  • 1A1-K12 ファン-スライダクランク機構を用いた波動伝播式壁面登攀ロボットの開発

Abstract

In recent years, robots that can substitute for humans in dangerous activities, contributing to safety, cost reduction and efficiency have been developed. For example, a wall-climbing robot can clean and inspect high places, and approach disaster sites where a person cannot reach. In this study, the locomotion of snails is used as an effective wall-climbing mechanism. A snail moves by generating travelling waves with its muscle elasticity and propagating the wave in the direction of movement. Since this locomotion mechanism is in contact with a large area of ground, it is extremely stable. This is advantageous in climbing unstable walls. The proposed robot uses several slider cranks for locomotion and a fan to adhere to the wall by suction. We confirmed that this robot successfully climbs various walls.

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