弾性テレスコピックアーム搭載型不整地移動ロボットの提案

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書誌事項

タイトル別名
  • A Proposal of off-road Mobile Robot with Elastic Telescopic Arm
  • 弾性テレスコピックアーム搭載型不整地移動ロボットの提案 ワイヤ駆動による手先位置決め精度の検討
  • Study of Accuracy of Arm Tip Position Control by Tendon Drive
  • ワイヤ駆動による手先位置決め精度の検討

抄録

<p>There is a demand for an off-road mobile robot having a high mobility and a wide movement range in a complicated environment such as a disaster site in which a person cannot enter. However, even if conventional moving mechanisms such as wheels, legs, crawlers are used, it may be difficult to move such as a steep slope. Therefore, in this research, we propose a method to fix wires directly to the external environment using elastic telescopic arm. And in this paper, we aim to control the tip position by the bending motion of the arm, and we show the results of the experiments on the relationship between winding value of a rope and the tension and the tip position. And we measured accuracy of the tip position control by winding value of a rope.</p>

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