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統合駆動と機能を備えた協調型フリッピング連続壁登りロボット

Yehui Shen, Shining Yan, Haiyang Du

  • 1Institution of School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China.

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まとめ
この要約は機械生成です。

本研究では、複雑な環境向けに設計された新しいフリッピング連続壁登りロボットを紹介する。このロボットは、以前の限界を克服し、狭い空間のナビゲーションや表面間の移行を含む高度な移動能力を示す。

キーワード:
協調動作連続壁登りロボット非構造環境可変半径フリッピング歩行

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科学分野:

  • ロボット工学
  • 機械工学
  • 人工知能

背景:

  • 登りロボット、特にフリッピング型は、非構造環境で有望です。
  • 複雑で制約のある非構造空間での移動は、現在のロボットにとって依然として大きな課題です。

研究 の 目的:

  • 新しいフリッピング連続壁登りロボットを提案すること。
  • 複雑で非構造化された制約のある環境でのロボットの適応性を高めること。
  • 連続移動、障害物交渉、マルチ平面遷移を可能にすること。

主な方法:

  • 3セグメント連続ジョイントトランクと磁気接着モジュールを備えたロボットの設計。
  • 移動性を高めるためのアンテザード設計。
  • ロボットの運動学的モデルとワークスペースの分析。

主要な成果:

  • ロボットは、壁登り、旋回、障害物克服、および異なる平面間の移行を正常に実行しました。
  • 狭い隙間（直径15cm）や狭い空間（幅11cm）を移動する能力を実証しました。
  • 可変半径フリッピング移動を実現し、520gのペイロードをサポートし、マルチロボット協調を可能にしました。

結論:

  • 開発されたロボットは、複雑な制約のある環境での限界を克服します。
  • 非構造化された壁面での汎用的な移動能力を示します。
  • この設計は、狭い空間での高度な登りや操縦を必要とする実用的なアプリケーションを容易にします。