TY - GEN
T1 - Running performance evaluation of inchworm drive and vibration drive for active scope camera
AU - Ishikura, Michihisa
AU - Wakana, Kazuhito
AU - Takeuchi, Eijiro
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
PY - 2011
Y1 - 2011
N2 - This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads. Therefore, the authors propose using not only a vibration drive but also an inchworm drive. The inchworm drive developed in this paper shows a running performance that is different from that of a vibration drive. Hence, complementary running performance is expected using this combination of drive mechanisms. In particular, the authors focus on carrying out running experiments on surfaces that exist at disaster sites.
AB - This paper evaluates performance of an inchworm drive with frictional anisotropy and a ciliary vibration drive for an active scope camera, which is a snake-like rescue robot used at disaster sites. The previous type of the active scope camera is equipped with a ciliary vibration drive and can travel in rubble. However, it has been found that the vibration drive is not effective on soft or uneven roads. Therefore, the authors propose using not only a vibration drive but also an inchworm drive. The inchworm drive developed in this paper shows a running performance that is different from that of a vibration drive. Hence, complementary running performance is expected using this combination of drive mechanisms. In particular, the authors focus on carrying out running experiments on surfaces that exist at disaster sites.
UR - http://www.scopus.com/inward/record.url?scp=80053932242&partnerID=8YFLogxK
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U2 - 10.1109/AIM.2011.6027005
DO - 10.1109/AIM.2011.6027005
M3 - Conference contribution
AN - SCOPUS:80053932242
SN - 9781457708381
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 599
EP - 604
BT - 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
T2 - 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2011
Y2 - 3 July 2011 through 7 July 2011
ER -