Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube

Yotaro Mori; Hideyuki Tsukagoshi; Ato Kitagawa

doi:10.20965/jrm.2011.p0215

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JRM Vol.23 No.2 pp. 215-224

doi: 10.20965/jrm.2011.p0215

(2011)

Paper:

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Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube

Yotaro Mori, Hideyuki Tsukagoshi, and Ato Kitagawa

Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, Tokyo 152-8552, Japan

Received:

October 8, 2010

Accepted:

January 4, 2011

Published:

April 20, 2011

Keywords:

search and rescue robot, flexible actuator, sliding actuator, pneumatics, fluid power

Abstract

This paper proposes a new method of locomotion called the “fluid powered ropeway.” It aims to collect information in dangerous buildings as rapidly and safely as possible. The device is mainly composed of a flexible flat tube and a gondola probe that is driven by fluid power using the buckling phenomenon of the tube. The big advantage is the gondola has the potential to traverse rocky terrains that wheeled and crawler-type vehicles have difficulty crossing over. This is because the drive force of the gondola is not against the ground but against the tube. In this paper, first, how to operate fluid powered ropeway in a disaster site is illustrated. Next, how to increase the drive force, how to enhance the ability of the gondola to travel over obstacles, and an analysis of the performance are discussed. Finally, the feasibility of the proposed method is verified through an experiment that uses the prototype developed.

Cite this article as:

Y. Mori, H. Tsukagoshi, and A. Kitagawa, “Fluid Powered Ropeway: Self-Propelled Probe Sliding Along Flexible Tube,” J. Robot. Mechatron., Vol.23 No.2, pp. 215-224, 2011.

Data files:

References

[1] T. Takayama and S. Hirose, “Development of “Souryu I & II” – Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” J. of Robotics and Mechatronics, Vol.15, No.1, 2003.
[2] H. Tsukagoshi, Y. Mori, M. Sasaki, T. Tanaka, and A. Kitagawa, “Development of Jumping & Rolling Inspector to Improve the Debris-traverse Ability,” J. of Robotics and Mechatronics, Vol.15, No.5, 2003.
[3] R. M. Voyles and R. Godzdanker, “Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot,” Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics, pp. 58-64, 2008.
[4] H. Tsukagoshi, H. Chiba, and A. Kitagawa, “Gel-type Sticky Mobile Inspector to Traverse on the Rugged Wall and Ceiling,” IEEE Int. Conf. on Robotics and Automation, FrA2.5, 2009.
[5] K. S. Pratt, R. R. Murphy, J. L. Burke, J. Craighead, C. Griffin, and S. Stover, “Use of Tethered Small Unmanned Aerial System at Berkman Plaza II Collapse,” Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics, pp. 134-139, 2008.
[6] M. Onosato et al., “Aerial Robots for Quick Information Gathering in USAR,” Proc. of SICE-ICASE Int. Joint Conf., pp. 3435-3438, 2006.
[7] E. Watari, H. Tsukagoshi, T. Tanaka, D. Kimura, and A. Kitagawa, “Development of a Throw & Collect Type Rescue Inspector,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation ThC12.3, 2007.
[8] Y.Mori, H. Tsukagoshi, and A. Kitagawa, “Fluid Powered Actuator Sliding Along Flexible Flat Tube (1st Report: Proposal of ∧-drive and Its Driving Analysis),” J. of the Japan Fluid Power System Society, Vol.41, No.5, 2010.
[9] S. Hirose and T. Yoshida, “Development of Pinch Roller lifters,” 14th Annual Conf. of the Robotics Society of Japan, p. 889-900, 1997.
[10] T. Akagi et al., “Development of Flexible Pneumatic Actuator with a Flexible Tube,” Proc. INTERMAC2001 Joint Tech. Conf., F-1093, pp. 1-10, 2001.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Takayama and S. Hirose, “Development of “Souryu I & II” – Connected Crawler Vehicle for Inspection of Narrow and Winding Space,” J. of Robotics and Mechatronics, Vol.15, No.1, 2003.

[2] [2] H. Tsukagoshi, Y. Mori, M. Sasaki, T. Tanaka, and A. Kitagawa, “Development of Jumping & Rolling Inspector to Improve the Debris-traverse Ability,” J. of Robotics and Mechatronics, Vol.15, No.5, 2003.

[3] [3] R. M. Voyles and R. Godzdanker, “Side-Slipping Locomotion of a Miniature, Reconfigurable Limb/Tread Hybrid Robot,” Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics, pp. 58-64, 2008.

[4] [4] H. Tsukagoshi, H. Chiba, and A. Kitagawa, “Gel-type Sticky Mobile Inspector to Traverse on the Rugged Wall and Ceiling,” IEEE Int. Conf. on Robotics and Automation, FrA2.5, 2009.

[5] [5] K. S. Pratt, R. R. Murphy, J. L. Burke, J. Craighead, C. Griffin, and S. Stover, “Use of Tethered Small Unmanned Aerial System at Berkman Plaza II Collapse,” Proc. of the IEEE Int. Workshop on Safety, Security and Rescue Robotics, pp. 134-139, 2008.

[6] [6] M. Onosato et al., “Aerial Robots for Quick Information Gathering in USAR,” Proc. of SICE-ICASE Int. Joint Conf., pp. 3435-3438, 2006.

[7] [7] E. Watari, H. Tsukagoshi, T. Tanaka, D. Kimura, and A. Kitagawa, “Development of a Throw & Collect Type Rescue Inspector,” Proc. of the 2007 IEEE Int. Conf. on Robotics and Automation ThC12.3, 2007.

[8] [8] Y.Mori, H. Tsukagoshi, and A. Kitagawa, “Fluid Powered Actuator Sliding Along Flexible Flat Tube (1st Report: Proposal of ∧-drive and Its Driving Analysis),” J. of the Japan Fluid Power System Society, Vol.41, No.5, 2010.

[9] [9] S. Hirose and T. Yoshida, “Development of Pinch Roller lifters,” 14th Annual Conf. of the Robotics Society of Japan, p. 889-900, 1997.

[10] [10] T. Akagi et al., “Development of Flexible Pneumatic Actuator with a Flexible Tube,” Proc. INTERMAC2001 Joint Tech. Conf., F-1093, pp. 1-10, 2001.