A Novel Actuator System Combining Mechanical Vibration and Magnetic Wheels Capable of Rotational Motion Using Shape Memory Alloy Coils

摘要

In every country, large steel bridges, such as cable-stayed bridges, are actively being constructed, and the number of such bridges has been progressively increasing. These bridges are often inspected using drones, but inspection techniques have not been established because of strong winds and thunder. Therefore, robots capable of working in difficult environments are desired. In the present study, a prototype of a rotary actuator system combining two iron disks and two electromagnetic-vibration-type actuators was fabricated. A new operation principle was developed that drives the system using the reaction force of the vibration-type actuator. Two shape memory alloy coils and two friction pads were integrated into the system to enable it to carry out turning operations, which were successfully demonstrated. The proposed actuator system can thus move in any direction. In addition, with this actuator system, both slide-on-ceiling and wall-climbing motions are possible.