流体駆動インチワームロボットの自立化に向けた駆動機構の開発

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書誌事項

タイトル別名
  • Development of a moving mechanism for a fluid-driving inchworm robot without fluidic supply tubes
公開日
2019
DOI
  • 10.1299/jsmermd.2019.1p2-k10
公開者
一般社団法人 日本機械学会

説明

<p>Recently, with aging piping facilities increasing, demand for inspection of pipes is growing. However, conventional manual inspection is difficult for underground and high place pipes. Therefore, development of pipe inspection robots is desired. The pipe inspection robots using fluidic flexible actuators have advantages of simple structure and high safety for pipes. However, depending on the length of fluidic supply tube, movement distance is limited and response is delayed. So we developed a mechanism that has a fluid supply source and moves like inchworm. It has a bellows actuator for moving robot forward in the center, and two balloon actuators that inflate and fix the front and rear of the robot. These actuators are connected with two tube pumps to move the internal fluid. By controlling internal fluid volume at a certain sequence, the robot moves in pipes. Proceeding in the pipe of the robot was confirmed.</p>

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