The pin-lock based moving mechanism of wall climbing robot for the Reconfigurable Intelligent Space

摘要

In this paper, we introduce the latest prototype MoMo for the R+iSpace. The R+iSpace denotes `Reconfigurable Intelligent Space', and it can solve the problem of device's spatial constraint that the conventional iSpace has. The R+iSpace employs the mobile module (MoMo) to solve the problem. The MoMo is a kind of wall climbing robot, and the device is mounted on the MoMo. Thus, the R+iSpace can solve the problem by the rearranging of devices with MoMos. The previous MoMos use the screw-nut mechanism to stick on the fields that are the modified walls and ceilings for the MoMo's movement. This mechanism was employed to eliminate the energy consumption while the MoMo maintains current posture. However, the previous prototype MoMos have a problem of the moving speed and the stability of motion. The latest prototype MoMo employs a pin-lock mechanism to stick on the fields. This mechanism makes the mechanical structure simply. To verify that the latest prototype MoMo satisfies necessary conditions of the R+iSpace, two experiments were performed. In this paper, the mechanical structure of latest prototype MoMo and the results of the experiments are described in detail.