A Twisted Bundled Tube Locomotive Device Proposed for In-Pipe Mobile Robot

Takayama, Toshio; Takeshima, Hirozumi; Hori, Tomoyuki; Omata, Toru

doi:10.1109/tmech.2015.2411752

Cited by 51 publications

(23 citation statements)

References 28 publications

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“…Thus, in this paper, we propose the use of a bundled-tube device for the development of a simple and affordable steerable in-pipe robotic device. A bundled-tube device is a novel in-pipe robot with inflatable tubes, which we have described in a previous study [29]; unlike other similarly purposed devices, our bundled-tube device utilizes snake-like motion to travel. This snake-like motion, which is based on bending motion, has previously been utilized by rigid multi-DoF snake robots [30].…”

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

Self Cite

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“…The motion cycle was unchanged. With regard to spiral soft robots, the robot designed by Takeshima and Takayama [23], [24] had a new structure consisting of six braided tubes, which included a right-hand helix [25] and a left-hand helix. The robot could rotate in both directions in pipes of various diameters based on the pressurization patterns of the six actuators.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

Zhang¹,

Wang²,

Wang

et al. 2019

IEEE Access

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Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields, such as pipe inspections. Several of the reported pipe-crawling soft robots have long actuation periods and small locomotion speeds. Moreover, they lack active steering property to adapt to complex piping systems, such as T-shaped pipes. To solve the above problems, this paper proposes a novel parallel-pipe-crawling pneumatic soft robot consisting of three extensible pneumatic soft actuators and two flexible feet. The parallel structure and flexible feet allow the robot to reduce the number of steps in a crawling cycle. The extensible actuator allows the robot to change its body shape for active steering property. However, a complete mathematical model for soft robots with parallel structure is hard to establish. In this paper, the phenomenological modeling method is used to realize a mathematical model with high precision, limited calculation, and easy engineering applicability of the pipe-crawling soft robot. Then, the prototype of the robot is fabricated with the optimal structural parameters selected by finite element simulations. The static identification experiment shows that the average errors of the extended length and output force are 0.51 mm and 0.28 N, respectively. The crawling experiments in various scenarios show that the horizontal crawling speed is higher than 15 mm/s, the maximum load is 2.456 kg, and the minimum turning radius is 38.2 mm. The robot shows great potential for inspecting in complex pipes with high crawling efficiency, excellent flexibility, and strong adaptability by switching its crawling gaits. INDEX TERMS Finite element simulation, parallel, phenomenological modeling, pipe-crawling robot, soft robot.

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“…Strain sensors have attracted large interest with the development of flexible and stretchable devices. They are promising for various applications such as motion sensing of wearable devices [1,2,3,4,5], smart textiles [6,7], and soft robotics (e.g., wearable [8,9], mobile [10], and medical [11,12] robots). Strain sensors are mainly based on piezoresistive and piezocapacitive characteristics.…”

Section: Introductionmentioning

confidence: 99%

Multipoint-Detection Strain Sensor with a Single Electrode Using Optical Ultrasound Generated by Carbon Nanotubes

Choi

Kwon

et al. 2019

Sensors

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With the development of wearable devices, strain sensors have attracted large interest for the detection of human motion, movement, and breathing. Various strain sensors consisting of stretchable conductive materials have been investigated based on resistance and capacitance differences according to the strain. However, this method requires multiple electrodes for multipoint detection. We propose a strain sensor capable of multipoint detection with a single electrode, based on the ultrasound pulse–echo method. It consists of several transmitters of carbon nanotubes (CNTs) and a single polyvinylidene fluoride receiver. The strain sensor was fabricated using CNTs embedded in stretchable polydimethylsiloxane. The received data are characterized by the different times of transmission from the CNTs of each point depending on the strain, i.e., the sensor can detect the positions of the CNTs. This study demonstrates the application of the multipoint strain sensor with a single electrode for measurements up to a strain of 30% (interval of 1%). We considered the optical and acoustic energy losses in the sensor design. In addition, to evaluate the utility of the sensor, finger bending with three-point CNTs and flexible phantom bending with six-point CNTs for the identification of an S-curve having mixed expansion and compression components were carried out.

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A Twisted Bundled Tube Locomotive Device Proposed for In-Pipe Mobile Robot

Cited by 51 publications

References 28 publications

Development of a steerable in-pipe locomotive device with six braided tubes

Development of a steerable in-pipe locomotive device with six braided tubes

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

Multipoint-Detection Strain Sensor with a Single Electrode Using Optical Ultrasound Generated by Carbon Nanotubes

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