Development of a double spiral mobile mechanism for wetland mobile robots
| Project/Area Number |
24560282
|
|---|
| Research Category |
Grant-in-Aid for Scientific Research (C)
|
| Allocation Type | Multi-year Fund |
|---|
| Section | 一般 |
|---|
| Research Field |
Intelligent mechanics/Mechanical systems
|
|---|
| Research Institution | Muroran Institute of Technology |
|---|
Principal Investigator |
HANAJIMA Naohiko 室蘭工業大学, 工学(系)研究科(研究院), 准教授 (40261383)
|
|---|
| Research Collaborator |
LIU Qunpo
|
|---|
| Project Period (FY) |
2012-04-01 – 2015-03-31
|
| Project Status |
Completed (Fiscal Year 2014)
|
| Budget Amount *help |
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2014: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2013: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000)
Fiscal Year 2012: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
|
|---|
| Keywords | 湿原調査 / 環境調査 / 丈長密生植物 / 移動ロボット / フィールドロボット / 螺旋 / モーションキャプチャ / 運動解析 / 螺旋機構 / 回転機構 / 脚式ロボット / 歩行シミュレーション |
|---|
| Outline of Final Research Achievements |
Field survey activities for the wetland preservation consume enormous labor and time. I have proposed the concept of a double spiral mobile mechanism which can travel through dense stand of plants in the wetland without sinking into the mud and leveling the plants to the ground. It is based on the principle that rotating spiral can move forward in the thick material like a corkscrew.
In this research, I developed a rotation device with gripping the circumference of the spiral pipe. The motion analysis using a motion capture system showed that the device realized a stable rotation. Furthermore, I undertook a construction of a whole robot model in a dynamics simulator, and a design of its half model for an experiment in order to proceed to a realization of the robot.
|
Report
(4 results)
Research Products
(12 results)
