Development of Slime Robot Using Bridle Bellows

摘要

Slim Slime Robot (SSR) looked like the active cord mechanism (the snake like robot) and composed of units that can stretch, shrink and bend actively, is for several tasks in the narrow space such as moving under collapsed houses and inspection of pipelines at plants. In this paper, we propose new concept, it is named “Bridle Drive.” And we developed the prototype model of the units of the SSR-II. This unit has the Bridle Bellows composed of a large caliber bellows and wire lock system. Bridle Bellows is able to change shape by controlling wire length and air pressure and produces a large power.