In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism
In this study, the authors comprehensively evaluated the traveling performance of a flexible pipe inspection robot (PI-RO) that can actively output both propulsion and traction forces. Household pipes must be frequently inspected for cracks and corrosion to ensure continuous provision of water and g...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9546770/ |
| _version_ | 1819260173981581312 |
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| author | F. Ito K. Takaya M. Kamata M. Okui Y. Yamada T. Nakamura |
| author_facet | F. Ito K. Takaya M. Kamata M. Okui Y. Yamada T. Nakamura |
| author_sort | F. Ito |
| collection | DOAJ |
| description | In this study, the authors comprehensively evaluated the traveling performance of a flexible pipe inspection robot (PI-RO) that can actively output both propulsion and traction forces. Household pipes must be frequently inspected for cracks and corrosion to ensure continuous provision of water and gas. As these pipes are essential for our everyday life, it is difficult to suspend their usage for long periods; hence, inspection should be conducted for short durations. In addition, inspecting entire pipelines using existing methods is challenging because the pipes are constructed over long distances and have complex structures. Therefore, we developed a flexible robot that can actively output propulsion and traction forces to inspect long-distance complex pipelines, such as household pipelines. Herein, we describe the flexible structural design of a PI-RO that inspects thin one-inch pipes (inner diameter of approximately 28 mm) typically present in household piping. We also evaluated the characteristics of each PI-RO unit. Finally, we confirmed that the PI-RO is not significantly affected by the traveling environment, such as long distances and complex small-diameter pipes, by conducting traveling experiments on small pipes (inner diameter 28 mm) and long-distance (up to approximately 11.7 m) complex pipes composed of horizontal, vertical, and 90° bend pipes. |
| first_indexed | 2024-12-23T19:21:42Z |
| format | Article |
| id | doaj.art-5dd2fa2800604fce8475e1ce277a603d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-23T19:21:42Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5dd2fa2800604fce8475e1ce277a603d2022-12-21T17:34:08ZengIEEEIEEE Access2169-35362021-01-01913124513125910.1109/ACCESS.2021.31146989546770In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic MechanismF. Ito0https://orcid.org/0000-0002-5265-3228K. Takaya1M. Kamata2M. Okui3https://orcid.org/0000-0002-2953-8635Y. Yamada4T. Nakamura5Department of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Bunkyo-Ku, Tokyo, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Bunkyo-Ku, Tokyo, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Bunkyo-Ku, Tokyo, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Bunkyo-Ku, Tokyo, JapanDepartment of Engineering and Design, Faculty of Engineering and Design, Hosei University, Chiyoda-Ku, Tokyo, JapanDepartment of Precision Mechanics, Faculty of Science and Engineering, Chuo University, Bunkyo-Ku, Tokyo, JapanIn this study, the authors comprehensively evaluated the traveling performance of a flexible pipe inspection robot (PI-RO) that can actively output both propulsion and traction forces. Household pipes must be frequently inspected for cracks and corrosion to ensure continuous provision of water and gas. As these pipes are essential for our everyday life, it is difficult to suspend their usage for long periods; hence, inspection should be conducted for short durations. In addition, inspecting entire pipelines using existing methods is challenging because the pipes are constructed over long distances and have complex structures. Therefore, we developed a flexible robot that can actively output propulsion and traction forces to inspect long-distance complex pipelines, such as household pipelines. Herein, we describe the flexible structural design of a PI-RO that inspects thin one-inch pipes (inner diameter of approximately 28 mm) typically present in household piping. We also evaluated the characteristics of each PI-RO unit. Finally, we confirmed that the PI-RO is not significantly affected by the traveling environment, such as long distances and complex small-diameter pipes, by conducting traveling experiments on small pipes (inner diameter 28 mm) and long-distance (up to approximately 11.7 m) complex pipes composed of horizontal, vertical, and 90° bend pipes.https://ieeexplore.ieee.org/document/9546770/Biomechatronicsinspectionpneumatic systemspneumatic actuators |
| spellingShingle | F. Ito K. Takaya M. Kamata M. Okui Y. Yamada T. Nakamura In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism IEEE Access Biomechatronics inspection pneumatic systems pneumatic actuators |
| title | In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism |
| title_full | In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism |
| title_fullStr | In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism |
| title_full_unstemmed | In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism |
| title_short | In-Pipe Inspection Robot Capable of Actively Exerting Propulsive and Tractive Forces With Linear Antagonistic Mechanism |
| title_sort | in pipe inspection robot capable of actively exerting propulsive and tractive forces with linear antagonistic mechanism |
| topic | Biomechatronics inspection pneumatic systems pneumatic actuators |
| url | https://ieeexplore.ieee.org/document/9546770/ |
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