著者

広瀬 茂男 長久保 晶彦 外山 良成

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.57, no.540, pp.2679-2686, 1991-08-25 (Released:2008-02-21)

参考文献数

12

被引用文献数

3 30

---

The configurational design for a wall-climbing robot which is capable of moving on diversified surfaces of wall and has high payload capability, is discussed, and a developed quadruped wall-climbing robot, NINJA-1, is introduced. NINJA-1 is composed of 1) legs based on a 3D parallel link mechanism capable of producing a powerful driving force for moving on the surface of a wall, 2) a CP (Conduit-wire-driven Parallelogram) mechanism to adjust the posture of the ankles, and 3) a VM (Valve-regulated Multiple) sucker which can provide suction even if there are grooves and small differences in level of the wall. Finally, the data of the trial-manufactured NINJA-1, and the up-to-date status of the walking motion are shown.