Six-braided tube in-pipe locomotive device

Takeshima, Hirozumi; Takayama, Toshio

doi:10.1109/iros.2015.7353511

Cited by 9 publications

(5 citation statements)

References 16 publications

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“…As was mentioned in Chapter 1, a six braided-tube locomotive device, which is proposed in the previous work [33], comprises three tubes that are twisted to form lefthanded helices, and three tubes twisted to form righthanded helices; L1, L2, and L3 in Fig. 1b denote the left-handed tubes, and R1, R2, and R3 in Fig.…”

Section: Fundamental Principles Of Six Braided-tube Devicementioning

confidence: 99%

“…Therefore, more stable and robust locomotion can be achieved by surrounding all of the cables with a bundled-tube locomotive device. Previously, we have developed several types of such bundled-tube devices, including a helicaltype device [31], a three-braided tube device [32], and six braided-tube device [33].…”

Section: Objectivementioning

confidence: 99%

“…Silicone tubes made of KE-1416 (Shin-Etsu Chemical Co., Ltd.) with inner and outer diameters of 1.5 mm and 2.5 mm, respectively, were used to fabricate both prototypes. Following the fabrication method used in a previous study [33], we braided and glued the tubes around a nonstretchable thread so that the initial helical pitch p h0 is 45 mm and the tubes are placed as shown in Fig. 16d.…”

Section: Two Prototypes Of Six Braided-tube Devicementioning

confidence: 99%

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Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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Section: Fundamental Principles Of Six Braided-tube Devicementioning

confidence: 99%

Section: Objectivementioning

confidence: 99%

Section: Two Prototypes Of Six Braided-tube Devicementioning

confidence: 99%

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Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

Self Cite

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“…The motion cycle was unchanged. With regard to spiral soft robots, the robot designed by Takeshima and Takayama [23], [24] had a new structure consisting of six braided tubes, which included a right-hand helix [25] and a left-hand helix. The robot could rotate in both directions in pipes of various diameters based on the pressurization patterns of the six actuators.…”

Section: Introductionmentioning

confidence: 99%

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

Zhang¹,

Wang²,

Wang

et al. 2019

IEEE Access

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Soft robots have unique advantages over traditional rigid robots and have broad application prospects in many fields, such as pipe inspections. Several of the reported pipe-crawling soft robots have long actuation periods and small locomotion speeds. Moreover, they lack active steering property to adapt to complex piping systems, such as T-shaped pipes. To solve the above problems, this paper proposes a novel parallel-pipe-crawling pneumatic soft robot consisting of three extensible pneumatic soft actuators and two flexible feet. The parallel structure and flexible feet allow the robot to reduce the number of steps in a crawling cycle. The extensible actuator allows the robot to change its body shape for active steering property. However, a complete mathematical model for soft robots with parallel structure is hard to establish. In this paper, the phenomenological modeling method is used to realize a mathematical model with high precision, limited calculation, and easy engineering applicability of the pipe-crawling soft robot. Then, the prototype of the robot is fabricated with the optimal structural parameters selected by finite element simulations. The static identification experiment shows that the average errors of the extended length and output force are 0.51 mm and 0.28 N, respectively. The crawling experiments in various scenarios show that the horizontal crawling speed is higher than 15 mm/s, the maximum load is 2.456 kg, and the minimum turning radius is 38.2 mm. The robot shows great potential for inspecting in complex pipes with high crawling efficiency, excellent flexibility, and strong adaptability by switching its crawling gaits. INDEX TERMS Finite element simulation, parallel, phenomenological modeling, pipe-crawling robot, soft robot.

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“…The former is similar to a traditional endoscope, and the latter ensures that the outer surface of the robot is static relative to the inner surface of the colon. Another robot that can be continuously propelled is the helix [9] or braided [10] tube locomotive device, which advances in a pipe based on the deformation of elastic tubes. Most other robots advance using an intermittent mode, such as worm-like robots [11,12], which is a very promising strategy and quite popular with researchers.…”

Section: Introductionmentioning

confidence: 99%

A bio-inspired self-propelling endoscopic device for inspecting the large intestine

Chen

Liu²,

Wang³

et al. 2019

Bioinspir. Biomim.

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This article presents an inchworm-inspired, pneumatic, endoscopic device intended to navigate inside a colon. The device consists of a propulsion segment with two linear balloons and two gripper segments with four twisted balloons. The three segments can be sequentially actuated by pressurized air, which achieves a propulsive motion like an inchworm. Experimental results of the pneumatic characteristics show that the device has excellent adaptability to pipes of different diameters and good controllability of the propulsion velocity. The device is flexible enough to pass through an elbow pipe without requiring special controls, and the inspection performance of a device equipped with a camera in a flexible pipe is also presented. Moreover, the device is able to advance in an excised swine colon, which shows its great potential for applications in colonoscopy.

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Six-braided tube in-pipe locomotive device

Cited by 9 publications

References 16 publications

Development of a steerable in-pipe locomotive device with six braided tubes

Development of a steerable in-pipe locomotive device with six braided tubes

Design and Modeling of a Parallel-Pipe-Crawling Pneumatic Soft Robot

A bio-inspired self-propelling endoscopic device for inspecting the large intestine

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