In-pipe inch-worm pneumatic flexible robot

Bertetto, Andrea Manuello; Ruggiu, Maurizio

doi:10.1109/aim.2001.936886

Cited by 55 publications

(38 citation statements)

References 6 publications

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“…The construction characteristics of these robots include an extendable body for moving forward and two deformable platforms for supporting [1]. Bekhit et al [2], presented an inchworm robot based on the Gough-Stewart (G-S) parallel mechanism with two improved 3-DoF (degree of freedom) triangular platforms.…”

Section: Introductionmentioning

confidence: 99%

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Ding

Yao

2015

Mechanisms, Transmissions and Applications

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A novel pipeline robot that can realize both inchworm gait and a new concept of Self-crossing motion (SCM) gait is proposed. The robot is composed of two identical spatial foldable platforms and three identical RPR (revolute-prismaticrevolute) kinematic chains. The foldable platform that is essentially an improved plane-symmetric Bricard linkage with special twist angle can achieve a continuous turning inside out. By taking advantage of the locomotion cooperation among two platforms and three kinematic chains, the robot possesses large deformation capabilities (adapt to different pipe size), different locomotion modes (SCM, inchworm), and foldable and expandable capabilities (fold into flat or prism shape). Two different SCM strategies are described respectively. As displayed in dynamic simulation with integrated locomotion gaits, the SCM movement performs a larger step length and fast speed than general inchworm locomotion.

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Section: Introductionmentioning

confidence: 99%

Self-crossing Motion Analysis of a Novel Inpipe Parallel Robot with Two Foldable Platforms

Ding

Yao

2015

Mechanisms, Transmissions and Applications

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“…The inchworm type given in Fig. 2(f) is usually employed for pipelines with very small diameters [9], [10]. The screw type (or helical-drive type) displays the motion of a screw when it advances in the pipelines, as depicted in Fig.…”

Section: Introductionmentioning

confidence: 99%

In pipe mobile robot with passive adaptation ability to pipe diameter

Dashti¹,

Reza²

2016

Fourth International Conference on Advances in Mechanical and Automation Engineering - MAE 2016

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Abstract-In-pipe robotic systems are increasingly being used for visual inspection and nondestructive testing to monitor block, corrosion, crack, defect, and wall thickness of pipeline networks. In this paper an in-pipe mobile robot with the passive ability of adaptation to pipe diameter is presented. Its mechanical structure consists of three sets of parallelogram wheeled leg mechanism which are circumferentially spaced out 120 degrees apart symmetrically. Using a simple preloaded spring makes this structural design capable to realize the adaptation to a wide range of pipe diameters, from 20 to 32 inch, and also wheel normal forces adjustment. On the basis of analyzing the mechanical actions of the adaptation to pipe diameter and normal force adjusting, the related mechanical models are derived. Using simulations performed by Msc Adams the derived models are validated and also the ability of robot in performing challenging tasks in different pipe profiles is inspected. Dynamic simulations prove that the robot can pass well through reducer joints and vertical pipelines by adjusting the spring force such that the suitable thrust force for the robot is obtained. Keywords-in-piperobot, passive pipe diameter adaptability, normal force adjusting, pipelines inspection I.

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“…The inchworm type given in Fig. 1(f) is usually employed for pipelines with very small diameters (Fukuda et al, 1989;Kondoh& Yokota, 1997;Anthierens et al, 2000;Shibata et al, 1998;Tsuruta et al, 2000;Jun et al, 1999;Landsberger & Martin, 1992;Menciassi et al, 2002;Mitsumoto et al, 2001;Takahashi et al, 1994;Bertetto & Ruggiu, 2001;Hayashi & Iwatsuki, 1998;Nishikawa et al, 1999;Anthierens et al, 1999). The screw type (or helical drive type) displays the motion of a screw when it advances in the pipelines as depicted in Fig.…”

Section: Introductionmentioning

confidence: 99%