By Topic

Running performance evaluation of inchworm drive and vibration drive for active scope camera

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
Ishikura, M. ; Grad. Sch. of Inf. Sci., Tohoku Univ., Sendai, Japan ; Wakana, K. ; Takeuchi, E. ; Konyo, M.
more authors

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.

Published in:

Advanced Intelligent Mechatronics (AIM), 2011 IEEE/ASME International Conference on

Date of Conference:

3-7 July 2011