TY - GEN
T1 - A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot
AU - Yamamoto, Tomonari
AU - Konyo, Masashi
AU - Tadakuma, Kenjiro
AU - Tadokoro, Satoshi
N1 - Funding Information:
This study is a collaboration project with Olympus Corporation. Additionally, it was supported by ImPACT Program of Council for Science, Technology and Innovation project.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize and design the novel expansion mechanism and introduce its associated mathematical model to formulate the holding force and mechanism design. The characteristics and capabilities of the mechanism are elucidated by experiments. From the experimental results, we optimize the applied pressure and the design of the mechanism. The proposed mechanism generates a maximum holding force of 69.7 N, which is 5.2 times higher than that of the previous mechanism, and drastically improves the robot's bent-pipe-passing capability. Finally, the performance of this mechanism is confirmed in a simulated pipe test. In this trial, a robot equipped with the proposed mechanism smoothly and steadily moves through complex pipe configurations, including the vertical and bent pipes.
AB - This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize and design the novel expansion mechanism and introduce its associated mathematical model to formulate the holding force and mechanism design. The characteristics and capabilities of the mechanism are elucidated by experiments. From the experimental results, we optimize the applied pressure and the design of the mechanism. The proposed mechanism generates a maximum holding force of 69.7 N, which is 5.2 times higher than that of the previous mechanism, and drastically improves the robot's bent-pipe-passing capability. Finally, the performance of this mechanism is confirmed in a simulated pipe test. In this trial, a robot equipped with the proposed mechanism smoothly and steadily moves through complex pipe configurations, including the vertical and bent pipes.
UR - http://www.scopus.com/inward/record.url?scp=85027967863&partnerID=8YFLogxK
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U2 - 10.1109/ICRA.2017.7989221
DO - 10.1109/ICRA.2017.7989221
M3 - Conference contribution
AN - SCOPUS:85027967863
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1900
EP - 1907
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -