Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot

Fang, Delei; Shang, Jianzhong; Luo, Zirong; Lv, Pengzhi; Wu, Guoheng

doi:10.1177/1687814017749402

Cited by 28 publications

(11 citation statements)

References 13 publications

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“…Thus, the switching time of the electromagnet affects this motion conversion process. When the switching time of the electromagnet is long, the first two expressions in equation (15) can be satisfied alternately. In this case, the trajectory of the robot will not follow the centerline of the elbow strictly but will have deviations.…”

Section: Simulation Experimentsmentioning

confidence: 99%

“…Using these mechanisms, pipe robots can move rapidly and possess a high payload capacity. Articulate pipe robots have highly complex structures and control algorithms to coordinate the entire body motion, [11][12][13][14][15] but they are flexible in principle. Mini pipe robots are also developed to work inside the human body, and these robots can travel in vessels.…”

Section: Introductionmentioning

confidence: 99%

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Design and analysis of a novel active screw-drive pipe robot

Tang

Lyu

et al. 2018

Advances in Mechanical Engineering

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This study proposes a novel active screw-drive in-pipe robot that can adapt the circular-type and square-type pipe structure. The pipe robot is composed of four driving units and a wall-pressing suspension mechanism. Each driving unit contains a motor, a transmission train, and an electromagnetic brake, which is for switching the motion transmission route. DC motors drive the helical wheels, and the incline angle of the helical wheels can be adjusted by using the electromagnetic brake. The wheels of the driving unit exhibit rolling and steering motion. Thus, the robot is capable of translation movements, rotation movements, and screw motions with respect to the axis of the pipe according to the different positions of the helical wheels. The robot can avoid obstacles by using the rotation and screw modes. Moreover, the wallpressing mechanism is analyzed and modified, and a criteria for entering a reduction pipe reducer are derived for the double scissor-like suspension mechanism. We also analyze the robot motion in curved pipes in two typical postures. The simulation experiments reveal the relationship between the translation and rotation motion of the robot and indicates that the steering angle of the wheels can be regarded as a regulator to adjust the movement speed of the robot aside from tuning the posture of the robot. Elbow experiments are conducted to verify the effectiveness of the motion strategy. The robot can be adapted for both circular and square tube pipes without any change in its structure due to the special configuration.

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Section: Simulation Experimentsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and analysis of a novel active screw-drive pipe robot

Tang

Lyu

et al. 2018

Advances in Mechanical Engineering

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“…Wheeled systems are also extensively combined with other locomotion types [5]. Second, inchwormlike robots [6][7][8][9][10] can perform both horizontal and vertical locomotion, but still have difficulties in traveling along a curved pipe. Third, wall-pressed robots [11][12][13][14][15][16] are the most popular system used for the application of in-pipe inspection robots [5].…”

Section: Introductionmentioning

confidence: 99%

An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation

et al. 2022

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This paper aims to present the design and prototype of an inspection robot that can perform both horizontal and vertical locomotion in ferromagnetic pipelines. The proposed robot applies to a range from 5-inch (127 mm) diameter pipes to flat plates. The train-like robot is mainly composed of three sealed modules with omnidirectional driving wheels for longitudinal and transverse movements. Permanent magnets were designed to provide sufficient magnetic adhesion between the robot and the ferromagnetic surface of the pipes. The internal condition of the pipe can be monitored visually through cameras and sensors. Specific experimental conditions have been carried out to validate the robot’s capabilities, including maximum speed, payload capacity, and vertical climbing distance. The experimental results also show that the robot is capable of passing through a straight pipe and elbow fitting in both upward and downward directions.

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“…Segments/parts without such antagonistic deformability can also be utilized for robot design, providing that additional bristle structures (e.g. microspine and clamping devices ( Fang D. et al, 2018 ; Yang et al, 2019 )) are embedded to acquire anchoring effect.…”

Section: Introductionmentioning

confidence: 99%

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

2021

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Earthworm-like robots have received great attention due to their prominent locomotion abilities in various environments. In this research, by exploiting the extraordinary three-dimensional (3D) deformability of the Yoshimura-origami structure, the state of the art of earthworm-like robots is significantly advanced by enhancing the locomotion capability from 2D to 3D. Specifically, by introducing into the virtual creases, kinematics of the non-rigid-foldable Yoshimura-ori structure is systematically analyzed. In addition to exhibiting large axial deformation, the Yoshimura-ori structure could also bend toward different directions, which, therefore, significantly expands the reachable workspace and makes it possible for the robot to perform turning and rising motions. Based on prototypes made of PETE film, mechanical properties of the Yoshimura-ori structure are also evaluated experimentally, which provides useful guidelines for robot design. With the Yoshimura-ori structure as the skeleton of the robot, a hybrid actuation mechanism consisting of SMA springs, pneumatic balloons, and electromagnets is then proposed and embedded into the robot: the SMA springs are used to bend the origami segments for turning and rising motion, the pneumatic balloons are employed for extending and contracting the origami segments, and the electromagnets serve as anchoring devices. Learning from the earthworm’s locomotion mechanism--retrograde peristalsis wave, locomotion gaits are designed for controlling the robot. Experimental tests indicate that the robot could achieve effective rectilinear, turning, and rising locomotion, thus demonstrating the unique 3D locomotion capability.

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Development of a novel self-locking mechanism for continuous propulsion inchworm in-pipe robot

Cited by 28 publications

References 13 publications

Design and analysis of a novel active screw-drive pipe robot

Design and analysis of a novel active screw-drive pipe robot

An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation

Yoshimura-origami Based Earthworm-like Robot With 3-dimensional Locomotion Capability

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