Study on slime robot - Development of the mobile robot prototype model using bridle bellows

被引：27

作者：

Aoki, T ^{[1
]}

Ochiai, A ^{[1
]}

Hirose, S ^{[1
]}

机构：

[1] Tokyo Inst Technol, Dept Mech & Aerosp Engn, Tokyo 152, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

articulated body; pneumatic link;

D O I：

10.1109/ROBOT.2004.1307486

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Slim Slime Robot (SSR), looks like an active cord mechanism (the snake like robot) and composes units that can stretch, shrink and bend actively, is for several tasks in narrow spaces such as to move under collapsed houses or for inspection of pipelines in plants. In this paper, we propose the new concept, which is named "Bridle Drive". We developed the prototype model of the units of the SSR-2.3. Each unit has a Bridle Bellows composed of a large caliber bellows and wire lock system. The use of Bridle Bellows allows to produce a high output using air pressure, its shape can be changed by controlling the length of the wires.

引用

页码：2808 / 2813

页数：6