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

Abstract

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.