Effective Configuration of Reconfigurable Single Actuator Wave Mechanism Toward Autonomous Cable Laying

This study aims to develop a cable laying robot capable of operating in both ceiling spaces and on cable racks. The robot needs to possess the ability to pull lead cables through these environments. To achieve this, a reconfigurable autonomous robot mechanism is proposed to move across cable racks and ceiling spaces using a traveling wave generated by a single motor. The performance and operation of the robot developed in this research are verified through experiments and comparison with previously developed robots. As a result, the advantages have been successfully demonstrated by reducing the number of motors, weight, and driving voltage by half while maintaining comparable environmental adaptability and propulsion speed.