Development of sliding type inspection robot using flexible pneumatic cylinder. (1st January 2013)

• Record Type: Journal Article
• Authors: Akagi, Tetsuya; Dohta, Shujiro; Wang, Lin; Kawasaki, Takahiro
• Is Part Of: International journal of advanced mechatronic systems. Volume 5:Number 2(2013)
• Page Start: 87
• Page End: 94
• Publication Date: 2013-01-01
• Subjects: pipe inspection robot -- flexible pneumatic cylinder -- McKibben artificial muscle -- flexible sliding mechanism -- flexible structure; Mechatronics -- Periodicals; 629.89
• Languages: English
• ISSNs: 1756-8412

Abstract

A pipe inspection robot is required to decrease the inspection cost. In this paper, a sliding type flexible mobile mechanism for the inspection robot was proposed and tested. The mechanisms consist of the open/close claw units and novel flexible pneumatic cylinders that can be driven even if the cylinder bends. The improvement of the sliding mechanism so that it can travel into a narrower pipe was also described. The flexible bending mechanism for changing the direction of the robot was also proposed and tested. As a result, the tested robot can travel in the narrow pipe with inner diameter of 50 mm smoothly by using the open/close unit and the sliding mechanism as an inchworm. The robot can also easily turn in both elbow and pipe tee by changing the body of the robot naturally according to the pipe based on its flexibility.