TY - GEN
T1 - Development of Pneumatic Driven Robot System which can Entry and Retire from Gas Pipe
AU - Kodama, Satoshi
AU - Konishi, Yoka
AU - Shindo, Koki
AU - Senzaki, Shotaro
AU - Nakamura, Toko
AU - Ohnuki, Yasuhiko
AU - Konno, Minoru
AU - Isii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/8
Y1 - 2021/8/8
N2 - 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.
AB - 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.
KW - flexible robot
KW - pipe inspection
KW - pneumatic actuator
KW - soft material robotics
UR - http://www.scopus.com/inward/record.url?scp=85115184120&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85115184120&partnerID=8YFLogxK
U2 - 10.1109/ICMA52036.2021.9512655
DO - 10.1109/ICMA52036.2021.9512655
M3 - Conference contribution
AN - SCOPUS:85115184120
T3 - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
SP - 1466
EP - 1471
BT - 2021 IEEE International Conference on Mechatronics and Automation, ICMA 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th IEEE International Conference on Mechatronics and Automation, ICMA 2021
Y2 - 8 August 2021 through 11 August 2021
ER -