論文

基本情報

氏名 篠原 隆
氏名(カナ) シノハラ タカシ
氏名(英語) Shinohara Takashi
所属 機構 研究社会連携機構 工作センター
職名 講師
researchmap研究者コード R000032420
researchmap機関 岡山理科大学

題名

Development of ladder climbing inspection robot with horizontal mobile function

単著・共著の別

共著

著者

Yuma ADACHI, Takashi SHINOHARA, Tetsuya AKAGI, Shujiro DOHTA, So SHIMOOKA, Feifei CHO, Masashi YOKOTA, Takumi ISHIBASHI

概要

In Japan, where earthquakes occur frequently, aging infrastructure such as bridges, chimneys, power lines and tunnels have become very severe concern. Aging infrastructure is extremely dangerous as it has possibility to collapse due to earthquake shaking. Therefore, it is necessary to find a dangerous point in infrastructures immediately to prevent accident. Inspection was mostly carried out by inspector climbing the attached ladders. However, the inspection climbing the ladder becomes dangerous, because it uses uncertain ladder and unpredictable weather and conditions occur. Based on the situation, the automatic ladder climbing inspection robot that can climb up and down the ladder by using flexible robot arms without giving damage to the ladder was developed in the previous study. The previous flexible robot arm that consists of three Extension type Flexible Pneumatic Actuators (EFPAs) that can extend about 2.5 times from its original length. In this study, as assuming investigations in hazardous environments where toxic / flammable gas exit or inside of a nuclear reactor, a ladder climbing inspection robot with horizontal mobile function was proposed and tested. The theoretical estimation for ladder climbing up motion of the robot based on the analytical model was carried out. As a result, it was confirmed that the tested robot could climb up the ladder, although only slightly. Also, the driving tests using the tested robot for ladder climbing down motion and horizontal mobile motion were also carried out. As a result, it was confirmed that the tested robot could realize both vertical and horizontal movements.

発表雑誌等の名称

Mechanical Engineering Journal

出版者

日本機械学会

Vol.11

No.6

開始ページ

Pages 24-00303,1

終了ページ

Pages 24-00303,13

発行又は発表の年月

2024/11

査読の有無

有り

招待の有無

記述言語

英語

掲載種別

研究論文(学術雑誌)

ISSN

2187-9745

ID:DOI

10.1299/mej.24-00303

ID:NAID(CiNiiのID)

ID:PMID

URL

JGlobalID

arXiv ID

ORCIDのPut Code

DBLP ID