2A1-O05 管内走行ロボット用マトリクスベローズアクチュエータの基礎特性 : 空気圧駆動式MBAの曲げ剛性測定とシミュレーション解析(特殊移動ロボット(1)) 2A1-O05 Basic Characteristics of Matrix Bellows Actuators for an In-pipe Mobile Robot : Numerical Analysis and Measurement of Bending Stiffness of MBA(Mobile Robot with Special Mechanism(1))
Many of pipes that supply indispensable water, gas and electricity for our life are laid underground. A regular inspection is necessary for these pipes. In the penetration inspection to which the inspection is done without digging up piping, the influence of the substance in the pipes is received. The micro robot that can easily inspect substance is being proposed by authors. However, the estimation of the deformation behavior of rubber is difficult though the variety of the rubber material is advanced like this. Because of deformation by power with slight rubber the cause, and it is difficult to estimate the deformation behavior of rubber as a result, and to use it for the product design. The material constant of rubber is obtained by the tensile test, the experiment value is done to the analysis that uses "MSC Marc", and strength of materials characteristic of the rubber type pneumatic actuator is clarified.
ロボティクス・メカトロニクス講演会講演概要集 2012(0), _2A1-O05_1-_2A1-O05_4, 2012