Flexible inspection mobile robot driven by ciliary actuators

2014 Fiscal Year Final Research Report

• Project/Area Number: 24560285
• 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: Tokyo Institute of Technology
• Principal Investigator: KIMURA Hitoshi 東京工業大学, 理工学研究科, 助教 (60376944)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Keywords: 柔軟繊毛アクチュエータ / 柔軟ロボット / 水力学的骨格 / 小型大流量弁

Outline of Final Research Achievements

This study uses flexible bags made of urethane rubber sheets for ciliary actuator mimicking creatures motion. For the purpose of reducing the number of valves, this study proposed a new z-shaped ciliary actuator with one fluid chamber. The actuator is capable of carrying 150 g load on a flat floor.
This study also proposed a new multi-layered mechanical valve using cam mechanism. The valve can control 2 pipelines per 1 layer with only 1 actuator. Prototype valve has 2 layers and it controls 4 pipelines at the same time.
Prototype ciliary robot with z-shaped actuators successfully climb a vertical 22 mm gap.

Free Research Field

ロボティクス・メカトロニクス