The purpose of this study is to develop a robot that reduces labor and automates cable-laying work at construction sites. The robot should have the ability to pull lead cables over cable racks and ceiling spaces. Therefore, we propose a reconfigured active-cord-mechanism robot based on the RSAW mechanism that can move in both environments by maintaining continuous traveling wave propagation across multiple units connected through joints. A prototype robot was first constructed to verify the applicability of the RSAW mechanism to cable-laying environments. However, the discontinuity of the traveling wave at the joint connections prevented the prototype from traversing ceiling spaces. Based on this finding, a new robot was developed with a configuration that ensures continuous wave propagation across the joints through mechanical design and phase synchronization control. As a result, the new robot enhances propulsion speed and cable traction. Additionally, the robot can move over ceiling joint receivers that exist in ceiling spaces. Comparative analysis with previous prototype robots and a snake-like robot highlights this robot’s advantages, including reduced motor count, autonomous operation with mounted power and control units, and superior turning capabilities.
Inagaki et al. (Fri,) studied this question.
Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context: