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

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1466-1471
ページ数6
ISBN(電子版)9781665441001
DOI
出版ステータスPublished - 2021 8 8
イベント18th IEEE International Conference on Mechatronics and Automation, ICMA 2021 - Takamatsu, Japan
継続期間: 2021 8 82021 8 11

出版物シリーズ

名前2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021

Conference

Conference18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
国/地域Japan
CityTakamatsu
Period21/8/821/8/11

ASJC Scopus subject areas

  • 人工知能
  • 電子工学および電気工学
  • 機械工学
  • 制御と最適化

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