Improvement of pipe holding mechanism for pipe inspection robot using flexible pneumatic cylinder

Nakagawa, Kengo; Dohta, Shujiro; Akagi, Tetsuya; Kobayashi, Wataru

doi:10.1109/icras.2017.8071906

Cited by 3 publications

(1 citation statement)

References 6 publications

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“…The actuators of wave propagation robots are often small in size but highly flexible in terms of the force generated, despite their simple structure. Therefore, it is desirable to achieve long-distance inspection by generating a large tractive force that corresponds to complex shapes in narrow pipes [19][20]. However, the response of the actuator is slow owing to the compressibility of air [15].…”

Section: Introductionmentioning

confidence: 99%

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: Introductionmentioning

confidence: 99%

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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Development of a compact sewerage robot with multi-DOF cutting tool

Tugeumwolachot

Seki

Tsuji

et al. 2021

Artif Life Robotics

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Single-Actuated Camshaft Robot With Multiple Sequential Motions

Yan

Huang

Wang

et al. 2023

Journal of Mechanisms and Robotics

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Pipeline inspection in unknown environments is challenging for robots, and various In-pipe crawling robots have been developed in recent years to perform pipeline inspection. Most of these robots comprise multiple segments and require multiple actuators to realize the pipeline locomotion, resulting in complicated system composition and large energy consumption. In this paper, inspired by the crawling principles of earthworm locomotion, we propose a single-actuated camshaft robot that can realize multiple sequential motions for pipeline crawling. The proposed singled-actuated camshaft robot contains one actuator and three segments: head anchoring, body elongation, and rear anchoring segment. The multiple sequential motions of these three segments are realized based on the cam mechanisms. Umbrella-shaped elastic rubbers are longitudinally arranged around the head and rear anchoring segments. Each segment contains a cam bracket. The camshaft's rotatory motion pushes the cam brackets to generate the axial translational motion, resulting in the umbrella-shaped elastic rubbers being expanded or contracted. The proposed camshaft robot's expansion and contraction motion are sequentially realized by the phase deviation of the camshafts. First, the structures of the proposed robot are designed. Then, the cam curves are modeled, the expansion/contraction ratio of the rear/head anchoring segment is calculated, the phase deviation of the camshafts is determined, and multiple sequential motions of the proposed robot are simulated. Finally, we fabricate the proposed camshaft robot and carry out crawling experiments in pipelines with different shapes and diameters.

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Improvement of pipe holding mechanism for pipe inspection robot using flexible pneumatic cylinder

Cited by 3 publications

References 6 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

Development of a compact sewerage robot with multi-DOF cutting tool

Single-Actuated Camshaft Robot With Multiple Sequential Motions

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