Development of Mobile Platform Capable of Traveling the Anti-Personnel Mined Fields for Humanitarian Demining

开发能够在杀伤人员雷区行驶进行人道主义排雷的移动平台

基本信息

批准号：
13650445
负责人：
OHSATO Ario
金额：
$ 2.3万
依托单位：
Nagaoka University of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2001
资助国家：
日本
起止时间：
2001 至 2002
项目状态：
已结题

项目摘要

Main aim of this research project is to practically develop the new type of mobile robot capable of traveling the anti-personnel landmines field, not triggering the buried mines and carrying the human deminer with mine-detector in order to overwhelmingly enhance the security and effectiveness of humanitarian demining handworks. In this research, instead of the existing methods of locomotive propulsion (wheel-type, crawler tracks-type, legs-type) whose pressure force on the ground is greatly higher than the activating force of anti-personnel mines, the new type of landmine locomotion by use of numerous ciliary flexible slant legs-driven system was newly developed. The main features are: (1) Having numerous flexible ciliary slant legs. (2) Ciliary propulsion is generated due to the frictional difference in the normal and counter directions of reciprocating the slant legs groups. (3) Propulsion system is based on the cylindrical cam system, and the rotary force of the two driving shafts is converted into the reciprocal motions of the leg groups via cam groove. By use of the numerous ciliary legs locomotion, the mobile platform with the following capabilities and characteristics has been developed: (1) Traveling the anti-personnel landmines field without triggering the mine whose activated force is greater than 5kg. (2) Carrying the 120kg weight (450kg empty weight). (3) Total number of the slant legs is 45,000, polyester-made leg of 2.5mm diameter and 430mm length. (4) Dimension of 3.52m length×1.66m width×1.2m height. (5) The maximum pressure force on the ground is less than 2.5kg. (6) Getting over around 120mm height obstacles on the ground. (7) Moving forward, backward and turning around with 4m/min maximum speed.

本研究项目的主要目的是实用新型移动机器人，能够在杀伤人员地雷场行走，不触发埋设的地雷，并搭载携带探雷器的人类排雷人员，以大幅度提高扫雷的安全性和有效性。本研究采用机车推进方式（轮式、履带式、腿式）代替现有的对地面压力远高于启动力的机车推进方式。杀伤人员地雷中，采用众多纤毛柔性斜腿驱动系统的新型地雷运动装置，其主要特点是：（1）具有众多柔性纤毛斜腿。（2）通过纤毛产生推进力。 (3)推进系统基于圆柱凸轮系统，两者的旋转力驱动轴通过凸轮槽转换为腿组的往复运动，利用众多的睫状腿运动，开发出具有以下功能和特点的移动平台：（1）在杀伤人员地雷场中行走而不触发。起重大于5公斤的地雷。（2）承载重量120公斤（空重450公斤）。（3）斜腿总数为45000个。直径2.5mm、长度430mm的聚酯材质 (4) 尺寸为3.52m长×1.66m宽×1.2m高 (5) 对地面的最大压力小于2.5kg (6) 越过。地面上120mm左右高度的障碍物 (7) 以4m/min的最高速度前进、后退和转身。