Development of Cable-Laying Robot Based on Reconfigurable Single-Actuator-Wave Units

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.