Development of in-pipe operation micro robots

Iwashina, S.; Hayashi, Iwao; Iwatsuki, Nobuyuki; Nakamura, Kiyoshi

doi:10.1109/ismmhs.1994.512896

Cited by 44 publications

(22 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The way of manual inspection is time-consuming and impracticable, especially when the pipes cannot be accessed by workers. Therefore, many kinds screw drive in-pipe robot that can move inside a pipe of 20 mm in diameter [13]. The simple transmission principles of the screw drive mechanism are beneficial to miniaturization.…”

Section: Introductionmentioning

confidence: 99%

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

et al. 2017

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

The in-pipe robots based on screw drive mechanism are very promising in the aspects of pipe inspecting and maintaining. The novel design of an in-pipe robot with differential screw angles is presented for the curved pipes and vertical straight pipes. The robot is mainly composed of the screw drive mechanism, adaptive linkage mechanism, and the elastic arm mechanism. The alternative adjusting abilities of the mobile velocity and traction, and the adaptive steering ability in curved pipes, are achieved by the special designs. A parameter design approach in consideration of the climbing and steering abilities is proposed in detail for the springs and length of the elastic arms. The results are applied to the prototype design of the robot. In several groups of experiments, the proposed robot is competent to pass through curved pipes and vertical straight pipes. The results prove that the proposed mechanism and parameter design approach are both valid.

show abstract

Section: Introductionmentioning

confidence: 99%

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

et al. 2017

Journal of Mechanisms and Robotics

View full text Add to dashboard Cite

show abstract

“…The inchworm type given in figure 1(f) is usually employed for pipelines with very small diameters [10]- [11]. The screw type (or helical-drive type) displays the motion of a screw when it advances in the pipelines, as depicted in figure 1(g) [12]- [13]. Almost all in-pipe inspection robots have employed the mechanism derived from one of the above basic types of mechanisms or their combinations.…”

Section: Introductionmentioning

confidence: 99%

Development of In-pipe Inspection Robot

Gargade¹,

Ohol²

2016

IOSR

View full text Add to dashboard Cite

“…Recently, many achievements have been made in the studies on screw drive in-pipe robots. Iwashina et al [17] developed a micro screw drive in-pipe robot that can walk in a pipe with a diameter of 20 mm or less. Hirose et al [18] developed Theseus-Ι based on screw drive in pipes with 50 mm in diameter.…”

Section: Introductionmentioning

confidence: 99%

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

et al. 2015

Sci. China Technol. Sci.

View full text Add to dashboard Cite

A screw drive in-pipe robot is promising inspection equipment for small pipes. However, most of the existing screw drive in-pipe robots have problems of motion interference and slipping inside curved or irregular pipes. These problems result from the coupled relations among the steering motion, the motion speed and the load ability of the robot. In order to deal with the problems, the axiomatic design (AD) theory is applied to evaluate and analyze the existing designs. Then an uncoupled concept design based on the AD theory is proposed and the complete AD decomposition process is presented. After that, the proposed robot based on a tri-axial differential angle modulation mechanism is designed to realize the uncoupled concept. Finally, the uncoupled property is verified in a dynamics simulation system. The simulation results indicate that the motion speed, load ability and steering motion of the proposed robot can be adjusted individually compared with the robots that have inclining-angle-fixed rollers. Owing to the uncoupled design, the proposed robot can mechanically adapt to straight pipes and curved pipes with less roller slipping. screw drive, in-pipe robot, axiomatic design, tri-axial differential mechanism Citation:Li T, Ma S G, Li B, et al. Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes.

show abstract

Development of in-pipe operation micro robots

Cited by 44 publications

References 0 publications

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Development of an In-Pipe Robot With Differential Screw Angles for Curved Pipes and Vertical Straight Pipes

Development of In-pipe Inspection Robot

Axiomatic design method to design a screw drive in-pipe robot passing through varied curved pipes

Contact Info

Product

Resources

About