机制(生物学)
机器人
弯曲分子几何
硅橡胶
复式(建筑)
计算机科学
机械工程
模拟
材料科学
结构工程
工程类
物理
人工智能
复合材料
化学
DNA
生物化学
量子力学
作者
Tomonari Yamamoto,Sayako Sakama,Akiya Kamimura
出处
期刊:IEEE robotics and automation letters
日期:2020-10-01
卷期号:5 (4): 5034-5042
被引量:17
标识
DOI:10.1109/lra.2020.3003859
摘要
Small in-pipe robots are key to improving pipe inspection procedures, especially for narrow diameters. However, robotic locomotion in such spaces, namely achieving a high locomotion performance with a narrow and flexible mechanism, is difficult. The novel in-pipe locomotion mechanism proposed in this letter achieves rapid locomotion through narrow pipes by a unique duplex-chambered structure. The mechanism achieves smooth bi-directional inchworm locomotion by a combination of expandable silicone rubber and a coil spring and is fully controlled by only two air supply lines. The concept and locomotion technique, including a mathematical analysis and discussion from the viewpoint of operational pressure, are presented herein. Several experiments on the prototyped mechanism were performed to elucidate its characteristics. The results of locomotion tests through horizontal, vertical, and bent pipes showed that the mechanism can horizontally navigate through 25-mm pipes at 45.5 mm/s, which is the fastest yet reported for this size of bi-directional in-pipe robot.
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