| Project/Area Number |
16H04296
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2019)
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| Budget Amount *help |
¥17,030,000 (Direct Cost: ¥13,100,000、Indirect Cost: ¥3,930,000)
Fiscal Year 2018: ¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2017: ¥5,720,000 (Direct Cost: ¥4,400,000、Indirect Cost: ¥1,320,000)
Fiscal Year 2016: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
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| Keywords | ソフトメカニクス / アクチュエータ |
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| Outline of Final Research Achievements |
In this research、we aimed to construct a basic technology for a new mobile robot capable of propelling while adsorbed on walls and ceilings with irregularities, cracks, and dirt, referring to the behavior of snails. The moving body is composed of a flexible driving unit generating a traveling wave by air pressure and a mucus whose shear stress and adsorption force change with speed. As a result, the shear stress is attenuated while the contracting wave travels from the tail to the head Based on this principle, considering application to aging inspection of concrete structures, 1) Design method of flexible actuator that generates traveling wave, 2) Elucidation of adsorption characteristics by mucus, 3) Cilia on adsorption surface The design method of the structure, 4) the purification method of the artificial mucus, etc. were examined, and the effectiveness of the proposed method was confirmed by the experiment using the prototype.
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| Academic Significance and Societal Importance of the Research Achievements |
凹凸・ひび割れ・汚れを伴うコンクリート壁面や天井面における移動は、従来までの壁面移動ロボットで試みられてきたものの、安定した吸着力と推力の双方の実現には至っていなかった。本研究は、カタツムリの吸着移動メカニズムに着目し、柔軟アクチュエータで生成される進行波と粘液との相互作用により、壁面に吸着したまま推進する移動手段を新たに提案し、その有効性と改善すべき設計上の課題を明らかにしたものである。また、本研究で提案した進行波と粘液との相互作用は、壁面移動ロボットだけでなく、体内を移動する内視鏡や医療ロボットなど、他の領域にも応用可能な成果を創出できたものと考えている。
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