scholarly journals Analysis and Improvement of Cilia Type Pipe Inspection Robot Using Extension Type Flexible Pneumatic Actuators

2021 ◽  
Vol 14 (1) ◽  
pp. 19-27
Author(s):  
Takashi SHINOHARA ◽  
Keichi KUSUNOSE ◽  
Tetsuya AKAGI ◽  
Shujiro DOHTA ◽  
Takumi KOBAYASHI ◽  
...  
Keyword(s):  
Pipe Inspection ◽  
Pneumatic Actuators ◽  
Inspection Robot

scholarly journals Development of Inchworm Type Pipe Inspection Robot using Extension Type Flexible Pneumatic Actuators

2020 ◽  
Vol 17 (2) ◽  
pp. 8019-8028
Author(s):  
K. Kusunose ◽  
T. Akagi ◽  
S. Dohta ◽  
W. Kobayashi ◽  
T. Shinohara ◽  
...  
Keyword(s):  
Frictional Force ◽  
Short Circuit ◽  
Pipe Inspection ◽  
Pneumatic Actuators ◽  
Inspection Robot ◽  
Propulsion Mechanism ◽  
The Difference ◽  
Inspection Robots ◽  
Plate Type

In the case of damp and wet pipes, pipe inspection robots using pneumatic actuators offer advantages such as no electrical leakage and short circuit. In the previous study, a robot consisting of sliding/bending mechanisms using parallel arranged three extension type flexible pneumatic actuators and two holding mechanisms was successfully developed. In order to use the robot in thinner pipe, a novel and simpler propulsion mechanism utilising the difference of frictional force moving forward and backward are proposed and tested in this work. There are two mechanisms, which are “wriggling type” and “cilia type”. The “wriggling type” mechanism moves forward by wriggling its body while the “cilia type” mechanism moves by using plate type cilia that covered on the mechanism. Both mechanisms have been tested in the pipeline. As a result, it can be confirmed that the cilia type propulsion mechanism can travel in the pipe with accumulated water. It can be found that the mechanism can easily travel through corners while twisting its body by giving bending motion toward any direction.

scholarly journals Movement Control for an Omnidirectional Mobile Mechanism for Pipe-Inspection Robot in Small Diameter Pipes

2020 ◽  
Vol 86 (11) ◽  
pp. 898-903
Author(s):  
Masato MIZUKAMI ◽  
Daisuke HARADA ◽  
Naohiko HANAJIMA ◽  
Yoshinori FUJIHIRA
Keyword(s):  
Small Diameter ◽  
Movement Control ◽  
Pipe Inspection ◽  
Inspection Robot

Proposal of One-inch Pipe Inspection Robot “PI-RO I”

2018 ◽  
Author(s):  
Masashi Kamata ◽  
Kana Tachibana ◽  
Yuki Tanise ◽  
Takahiko Kawaguchi ◽  
Yasuyuki Yamada ◽  
...  
Keyword(s):  
Pipe Inspection ◽  
Inspection Robot

Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task

2015 ◽  
Vol 762 ◽  
pp. 163-168 ◽  
Author(s):  
Mihai Olimpiu Tătar ◽  
Ioan Ardelean ◽  
Dan Mândru
Keyword(s):  
Traction Force ◽  
Digital Measuring ◽  
Pipe Inspection ◽  
Measuring Device ◽  
Maintenance And Repair ◽  
Pipeline Inspection ◽  
Inspection Robot ◽  
Complete Inspection ◽  
Inspection Task

Inspection and exploration represent a challenging domain in the field of robotics because of the hazardous and limited workspace to which the robots have to adapt and because of the reduced ability to monitor and acquire data about the inspected environment. A pipeline inspection robot must ensure sufficient traction force to pull its tether cable and other equipment while travelling inside a pipeline to complete inspection, maintenance, and repair tasks. This paper presents the design of three minirobots with adaptable structure for in pipe inspection and the experimental determination of their traction force. To measure the traction force of the minirobots, the Xplorer GLX digital measuring device was used.

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