Abstract
This paper introduces a newconcept of “tethered detachable hook (TDH)” and its launching winch. TDH system is the device which will be mounted on a mobile robot and enhances its traversability over extremely hostile terrain by launching detachable hook to nearby objects, producing large traction force by the tether and detaching/recovering the hook to the launcher again. In this paper the authors first of all introduce several prototype models of the TDH.We then discuss the design of latest model which features pneumatic detaching mechanism, the pneumatic launcher and the reel mechanism having three motion states; active rotation, free rotation and braking. Finally, the result of several experiments of constructed TDH model will be explained.
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Asano, N., Nakamoto, H., Hagiwara, T., Hirose, S. (2010). Tethered Detachable Hook for the Spiderman Locomotion (Design of the Hook and Its Launching Winch). In: Howard, A., Iagnemma, K., Kelly, A. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 62. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13408-1_3
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DOI: https://doi.org/10.1007/978-3-642-13408-1_3
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-13407-4
Online ISBN: 978-3-642-13408-1
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