Development of Pneumatic Driven Robot System which can Entry and Retire from Gas Pipe

Satoshi Kodama, Yoka Konishi, Koki Shindo, Shotaro Senzaki, Toko Nakamura, Yasuhiko Ohnuki, Minoru Konno, Hiroyuki Isii, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

There is a need for technology to inspect inside the gas pipe without excavation. In this paper, we introduce a robot called WATER-5; a pneumatically driven robot that moves inside gas pipes and acquires states of pipe walls with its camera. This robot consists of two grippers: an elastic flexible actuator (EFA), and an active bending module (ABM). It propels by the periodic drive of the grippers and the EFA like an inchworm. Also, it can enter the curved sections and select branches using the ABM. To assist the propulsion of the robot when entering, the robot is pushed in by a push-in machine attached to the gas meter. And when leaving the pipes, the robot is reeled in by a winder from the ground. Entry and retreating experiments were conducted using test pipes with two different inner diameter pipes, 28[mm] and 53 [mm], and multiple bends.

Original languageEnglish
Title of host publication2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1466-1471
Number of pages6
ISBN (Electronic)9781665441001
DOIs
Publication statusPublished - 2021 Aug 8
Event18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 - Takamatsu, Japan
Duration: 2021 Aug 82021 Aug 11

Publication series

Name2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021

Conference

Conference18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Country/TerritoryJapan
CityTakamatsu
Period21/8/821/8/11

Keywords

  • flexible robot
  • pipe inspection
  • pneumatic actuator
  • soft material robotics

ASJC Scopus subject areas

  • Artificial Intelligence
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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