High-speed response of the pneumatic actuator used in a peristaltic crawling robot inspecting long-distance gas pipes

Tanise, Yuki; Kishi, Tatsuya; Yamazaki, Shota; Yamada, Yasuyuki; Nakamura, Taro

doi:10.1109/aim.2016.7576939

Cited by 6 publications

(2 citation statements)

References 5 publications

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“…At present, studies on the robot outside the pipe at home and abroad are limited. The existing structures for the crawling mechanism outside the pipe wall are as follows: wheel type, 7 pneumatic peristaltic type, 8 inchworm type, 9 and multi-joint type structure. 10 The furnace pipe wall climbing robot must run smoothly and continuously for pipe wall detection.…”

Section: Introductionmentioning

confidence: 99%

Mechanical structure design and analysis of the outside needle pipe climbing robot

Gao

Feng

et al. 2022

Advances in Mechanical Engineering

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This study designed a crawling mechanism that can solve the measurement problems of slender and needle pipes by detecting the heating vertical needle pipe, which is greatly applied in the petrochemical and refinery industry. The robot’s walking system uses a single driven wheel to stick on the way, with a scissor-hand structure to adapt to changes in diameter between 50 and 90 mm. This study lists the dynamic analysis equation of the robot, thereby obtaining the optimum range of Angle α between the horizontal line and the center line of the main driving wheel and the main clamping wheel. Moreover, the study uses multi-body dynamics simulation software for dynamics simulation analysis. Results indicate that the crawling system has the advantages of anti-deviation, can adapt to different pipe diameters and has a simple structure.

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Section: Introductionmentioning

confidence: 99%

Mechanical structure design and analysis of the outside needle pipe climbing robot

Gao

Feng

et al. 2022

Advances in Mechanical Engineering

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“…Previous works on peristaltic [3,5,[7][8][9][10][11] and caterpillar crawling robots [4,[12][13][14] have used actuators such as shape-memory alloys, pneumatic pumps, servo motors, and magnetic fluid. However, issues with existing designs include poor structural compliance due to rigid components [7,10,12], structural complexity [10,12] making miniaturization difficult, and tethered operation [5,12,14] limiting the autonomous operation of the robot especially in narrow space.…”

Section: Introductionmentioning

confidence: 99%

A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns

2021

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In this work we present a soft crawler fabricated using a magneto-active elastomer. The crawler is controlled by an external magnetic field to produce two locomotion patterns: peristaltic and caterpillar crawling. Due to its structural simplicity, low mass, wirelessly controlled actuation and compliant body the design of this crawler has the potential to address the key challenges faced by existing crawling robots. Experimental data were gathered to evaluate the performance of the crawler locomotion in a pipe. The results validated the mathematical models proposed to estimate the distance traveled by the crawler. The crawler shows potential for use in exploration of confined spaces.

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An earthworm-like modular soft robot for locomotion in multi-terrain environments

Das

Babu

Visentin

et al. 2023

Sci Rep

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Robotic locomotion in subterranean environments is still unsolved, and it requires innovative designs and strategies to overcome the challenges of burrowing and moving in unstructured conditions with high pressure and friction at depths of a few centimeters. Inspired by antagonistic muscle contractions and constant volume coelomic chambers observed in earthworms, we designed and developed a modular soft robot based on a peristaltic soft actuator (PSA). The PSA demonstrates two active configurations from a neutral state by switching the input source between positive and negative pressure. PSA generates a longitudinal force for axial penetration and a radial force for anchorage, through bidirectional deformation of the central bellows-like structure, which demonstrates its versatility and ease of control. The performance of PSA depends on the amount and type of fluid confined in an elastomer chamber, generating different forces and displacements. The assembled robot with five PSA modules enabled to perform peristaltic locomotion in different media. The role of friction was also investigated during experimental locomotion tests by attaching passive scales like earthworm setae to the ventral side of the robot. This study proposes a new method for developing a peristaltic earthworm-like soft robot and provides a better understanding of locomotion in different environments.

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High-speed response of the pneumatic actuator used in a peristaltic crawling robot inspecting long-distance gas pipes

Cited by 6 publications

References 5 publications

Mechanical structure design and analysis of the outside needle pipe climbing robot

Mechanical structure design and analysis of the outside needle pipe climbing robot

A Magneto-Active Elastomer Crawler with Peristaltic and Caterpillar Locomotion Patterns

An earthworm-like modular soft robot for locomotion in multi-terrain environments

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