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

水平移動可能なはしご昇降ロボット

単著・共著の別

共著

著者

足立悠真,篠原 隆,赤木徹也,趙 菲菲,横田雅司

概要

As earthquakes occur frequently in Japan, aging infrastructures such as bridges, chimneys, power lines and tunnels are extremely dangerous from view point of possibility to collapse due to earthquake shaking. Therefore, it needs to investigate a dangerous point in infrastructures immediately to prevent accident. Usually, inspectors have climbed the attached ladders for inspection of some buildings. However, it is very dangerous, because it uses uncertain ladder and it occurs unpredictable weather and conditions. Therefore, in the previous study, the automatic ladder climbing inspection robot that could climb up and down the ladder by using flexible robot arms without giving damage to the ladder was developed. The previous flexible robot arm that consists of three Extension type Flexible Pneumatic Actuators (EFPAs) that can extend about 2.5 times from its natural length. In this study, in order to investigate a dangerous point in hazardous environments such as inside of a nuclear reactor, we aim to develop a ladder climbing inspection robot that can also move horizontally. To construct the desired robot, we proposed and tested a robot arm/leg that consists of four EFPAs with restraint plates. We confirmed that the arm/leg could bend toward eight radial directions every 45 degrees. We also proposed and tested the automatic ladder climbing inspection robot with horizontal mobile function that consists of four arms/legs. The driving tests of ladder climbing up and down motion were carried out. As a result, we confirmed that the tested robot could climb up and down the ladder. Also, the driving tests of horizontal mobile function of the tested robot was carried out. As a result, we also confirmed that the tested robot could move horizontally toward eight directions every 45 degrees.

発表雑誌等の名称

岡山理科大学紀要.A,自然科学

出版者

岡山理科大学

60

開始ページ

159

終了ページ

166

発行又は発表の年月

2025/01

査読の有無

無し

招待の有無

無し

記述言語

日本語

掲載種別

研究論文(大学,研究機関等紀要)

ISSN

0285-7685

ID:DOI

ID:NAID(CiNiiのID)

ID:PMID

URL

JGlobalID

arXiv ID

ORCIDのPut Code

DBLP ID