Active Scope Camera

Study Brief

The entanglement of cables and stuck by the obstacles in narrow spaces are big problems for fiber scope, movable camera, and wired robot which are used for rescue activities. Our lab is conducting the research on slim cable robots to move actively or semi-actively by applying new actuation mechanism. Through this, we try to improve the mobility of robots when searching in narrow spaces, and enable the cable to untangle actively by itself. Here are the key words of the research.

    • Approach and configuration of actuation of cable robot with build-in distributed vibration driving device

    • Development of cilia driving mechanism

    • Modeling of active (or semi-active) cable robot under restriction

    • Development of distributed posture sensing of the cable robot

    • Development of distributed posture controlling of the cable robot

※Here for application examples> Applications of active scope camera

Active Scope Camera

By adding a driving mechanism to Olympus IV7630X2, we developed the Active Scope Camera. The inserting part is 3m long, and there is a 120 degrees head swing mechanism on the top. With the driving mechanism, the maximum advance speed is 50mm/s and grade ability is more than 20 degrees. This robot has high mobility performance on concrete or wood which is are likely to exist in a disaster site. Moreover,  due to the inserting part is covered by the cilia, ASC generates driving force with its entire body. Therefore, even if in the rubbles with uneven shape, as long as part of the robot is contacted with the ground, the robot can move forward.

Video of Active Scope Camera

Cilia vibration driving mechanism

We proposed the mechanism using cilia to provide cable robot driving force. By fully covering the cable robot with cilia, the mechanism which has distributed driving force is realized. Due to the cilia are set with an inclined angle, the cilia vibrate up and down repeatedly and push the robot forward when vibration is added.

Model Analysis

In order to clarify the driving mechanism and conduct design optimization, we have built the model and conducted analysis

Related Publications

  • Michihisa Ishikura, Kazuhito Wakana, Eijiro Takeuchi, Masashi Konyo, and Satoshi Tadokoro,
    Design and Running Performance Evaluation of Inchworm Drive with Frictional Anisotropy for Active Scope Camera,
    Journal of Robotics and Mechatronics, pp. 517-530, Vol. 24 No. 3, 2012.
  • Masashi Konyo, Kazuya Isaki, Kazunari Hatazaki, Satoshi Tadokoro, and Fumiaki Takemura,
    Ciliary Vibration Drive Mechanism for Active Scope Cameras,
    Journal of Robotics and Mechatronics,  Vol.20, No.3 pp.490-499, 2008.
    (Journal of Robotics and Mechatoronics Best Paper Award 受賞)
  • K. Hatazaki, M. Konyo, K. Isaki, S. Tadokoro and F. Takemura,
    Active Scope Camera for Urban Search and Rescue,
    Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, Oct., 2007.
    (2007 IEEE Robotics and Automation Society Japan Chapter Young Award (IROS) 受賞)
  • Kazuya Isaki, Akira Niitsuma, Masashi Konyo, Fumiaki Takemura, Satoshi Tadokoro,
    Development of an Active Flexible Cable by Ciliary Vibration Drive for Scope Camera,
    Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3946-3951, Beijing, Oct., 2006.
    (2006 IEEE Robotics and Automation Society Japan Chapter Young Award (IROS) 受賞)
  • K.Isaki, A.Niitsuma, M.Konyo, F.Takemura, S.Tadokoro,
    Development of an Active Flexible CableDriven by Ciliary Vibration Mechanism,
    Proceedings of the 10th International Conference on New Actuators, pp. 219-222, Bremen,Jun.,2006

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