Development of pneumatically driven peristaltic-type robot for long distance inspection in half-inch pipes

Kamata, Masashi; Yamazaki, Shota; Tanise, Yuki; Yamada, Yasuyuki; Nakamura, Taro

doi:10.1109/aim.2017.8014035

Cited by 8 publications

(7 citation statements)

References 5 publications

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“…This is the most widely used pneumatically driven system. It includes robots that mimic earthworms [11][12], inchworms [9,[13][14], and spiral tube robots [15]. Since a large pneumatic valve can be used outside the pipe, there is no restriction on the flow rate that can be supplied.…”

Section: A Pneumatic Valves Are Placed Outside the Pipe And Each Chamber Requires Its Own Pneumatic Valvementioning

confidence: 99%

“…We consider a time T = t [s] and a time T = t + ∆t [s] after a small period of time (∆t [s]). Assuming that the pressure inside the artificial muscle at time T = t is 𝑃 𝑡 and the area of the orifice is 𝑆 t , the flow rate at that moment can be obtained from (13).…”

Section: Orifice Area [Mm 2 ]mentioning

confidence: 99%

“…Self-propelled in-pipe mobile robots can be roughly classified into two types: wheeled robots driven by electricity [4][5][6][7][8][9][10] and wave propagation robots driven by air [11][12][13][14][15]. Wheeled robots move by rotating wheels with motors.…”

Section: Introductionmentioning

confidence: 99%

“…Meanwhile, a wave propagation robot using air pressure moves by using the expansion and contraction of the actuator. Examples of wave propagation robots that have been developed are earthworm [11][12], inchworm [9,[13][14], and spiral tube [15] robots. Earthworm and inchworm robots are composed of a series of actuators that expand and contract by pressurizing and depressurizing air.…”

Section: Introductionmentioning

confidence: 99%

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Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

Sato¹,

Uchiyama

Mano

et al. 2021

IEEE Access

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This paper describes the development of a compact pneumatic valve that can obtain a high flow rate in a periodically pneumatically driven pipe-moving robot. Plumbing facilities around the world have fallen into disrepair in recent years. Pneumatically driven mobile robots are widely used as an inspection method due to the small inner diameter and complicated shape of the pipes. Various types of robots have been studied, such as earthworm, inchworm, and spiral tube robots. However, these robots are driven by existing pneumatic valve technologies, such as needle-type and solenoid valves, which limit the use of small mobile robots. Small pneumatic valves have a low flow rate, and the entire system is complicated because multiple air pressures are controlled by multiple electrical systems. Thus, focusing on the structure and periodic motion of the ball valve, we developed a pneumatic valve that can periodically apply pressure to multiple pneumatic actuators using only rotational motion with one degree of freedom. We also applied this pneumatic valve to a wave propagation robot and discussed the theoretical running speed of the robot with this valve.

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Section: A Pneumatic Valves Are Placed Outside the Pipe And Each Chamber Requires Its Own Pneumatic Valvementioning

confidence: 99%

Section: Orifice Area [Mm 2 ]mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

Sato¹,

Uchiyama

Mano

et al. 2021

IEEE Access

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“…Mano Yuki et al [24], a scholar from Chuo University of Japan designed a peristaltic robot for underwater pipeline inspection [25] and studied its control system for contraction forces [26]. Kamata et al [27] developed a pneumatic peristaltic pipe robot for long-distance pipe inspection, but this robot could not pass elbows or straight tubes with inclination angles. By comparing the advantages and disadvantages of the different movement methods shown in Table 1 and considering the complex working environment of the plugging and repairing robot designed in this study, we selected the spiral driven type robot [28].…”

Section: Introductionmentioning

confidence: 99%

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

Yan

Wang

et al. 2020

IEEE Access

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To repair leaking pipelines for oil, natural gas and other dangerous media, a kind of pipeline sealing robot is proposed. The device is mainly divided into a robot drive unit, connection unit, and blocking unit. The robot drive unit is used to pull the blocking unit, allowing it to move in the pipeline. The connection unit is used to connect the robot drive unit and the blocking unit. The blocking unit is used to complete the repair at the leakage point. When the robot operates, the drive unit drags the blocking device to the pipeline leakage location, and the front camera can detect the size and shape of the leakage hole. The sealing unit is located at the leakage point, an airbag is inflated, and the adhesive in it is used to seal and repair the leak. Two performance indices (climbing performance and curve passing performance) are evaluated when the robot drive unit is walking. A 3D model of the robot is established, and the performance index of the robot is simulated and analyzed using virtual prototype technology. An experimental platform is built for verification. The conclusions are as follows: (1) A spring with a 13 N/mm rigidity yielded the best performance, and the robot could crawl up a 37° slope. (2) When the deflection angle of the driving wheel was set to 30°, the robot could smoothly pass a bend with a radius of curvature of 500 mm. Thus, the robot performance met the design requirements.

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A Small In-Pipe Inspection Robot with Integrated Holding Force Mechanism

Khalil

Masuda

Takayama

et al. 2022

2022 7th International Conference on Robotics and Automation Engineering (ICRAE)

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Development of pneumatically driven peristaltic-type robot for long distance inspection in half-inch pipes

Cited by 8 publications

References 5 publications

Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

Development of a Compact Pneumatic Valve Using Rotational Motion for a Pneumatically Driven Mobile Robot With Periodic Motion in a Pipe

Research on Passing Ability and Climbing Performance of Pipeline Plugging Robots in Curved Pipelines

A Small In-Pipe Inspection Robot with Integrated Holding Force Mechanism

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