Geometric Estimation of the Deformation and the Design Method for Developing Helical Bundled-Tube Locomotive Devices

Takeshima, Hirozumi; Takayama, Toshio

doi:10.1109/tmech.2017.2770140

Cited by 13 publications

(18 citation statements)

References 22 publications

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“…This form of peristaltic crawling was the most popular among the self-propelling robots in the results, used in three out of four examples. 51,53,55 The method in Suzumori et al . 51 is slightly different from the others, as an elastomer sheath wrapped around a colonoscope was produced to help with scope advancement by generating travelling deformation waves, in contrast to the self-propelling colonoscope replacements in Connolly et al .…”

Section: Resultsmentioning

confidence: 99%

Soft Robotics in Minimally Invasive Surgery

2019

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Soft robotic devices have desirable traits for applications in minimally invasive surgery (MIS), but many interdisciplinary challenges remain unsolved. To understand current technologies, we carried out a keyword search using the Web of Science and Scopus databases, applied inclusion and exclusion criteria, and compared several characteristics of the soft robotic devices for MIS in the resulting articles. There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities. We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.

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Section: Resultsmentioning

confidence: 99%

Soft Robotics in Minimally Invasive Surgery

2019

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“…where 12 , MM denote the torque of forces 12 , FF respectively. For a certain deformed height of the soft actuator when the input air pressure inside the actuator is given, the theoretical relationship between the pulling force c F and the displacement of the slider sd x as it moves along the slideway can be calculated by combining (8)- (11) and summarized as, ( , ).…”

Section:  =mentioning

confidence: 99%

“…To address this threat, several pipe-climbing robots have been developed recently that can perform inspection and maintenance on pipelines remotely [1,2]. Existing climbing robots can be classified into major categories according to locomotion principles, including legged type [3,4], wheeled/tracked type [5][6][7][8] and inchworm type [9][10][11]. Of note most of the existing pipe-climbing robots are based on rigid frameworks and are driven by electric motors, which have advantages for multi-DoF motion and precise control.…”

Section: Introductionmentioning

confidence: 99%

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Jiang¹,

Chen²,

Zhang³

et al. 2020

Bioinspir. Biomim.

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In nature, climbing trees and pipes of varying diameters or even navigating inside of hollow pipes and tree holes is easy for some climbing animals and insects. However, today's pipeclimbing robots, which are important for automatically conducting periodic inspections and maintenance of pipelines to save time and keep humans away from hazardous environments, are designed mainly for a specific task, limiting their adaptability to different working scenarios and further implementation in real-life. In this paper, we propose a pipe-climbing robot with a soft linear actuator for bioinspired propulsion, two origami clutches to realize multi-degrees-of-freedom (DoF) motion and two pairs of soft modular legs for multimodal climbing. Design, modeling and experimental validation of the origami clutch are introduced in detail. Preliminary experimental results show that we can achieve a stroke of up to 289.6% and a maximum 45 degrees bending angle on the soft linear actuator by regulating the air pressure inside the soft actuator and origami clutches. Additionally, by choosing the leg-type, three climbing modes, including out-pipe versatile mode, out-pipe high-force mode and inpipe mode can be realized for particular working scenarios. A prototype climbing robot demonstrates that in out-pipe versatile mode, the robot can climb on the exterior of pipes made of various materials including PVC, rubber and metal with diameters ranging from 105 to 117 mm. In the out-pipe high-force mode, the climber can navigate along a specific pipe carrying maximum 675 g external load at the top or 200 g hanging from the bottom, as well as keeping functional without failure under static loads as high as 1968 g. In the in-pipe mode, the robot is able to travel inside pipes. This research might bridge the design gap between in-pipe and out-pipe climbing robots while offering an alternative option for soft robots to execute multi-DoF motion.

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“…Therefore, more stable and robust locomotion can be achieved by surrounding all of the cables with a bundled-tube locomotive device. Previously, we have developed several types of such bundled-tube devices, including a helicaltype device [31], a three-braided tube device [32], and six braided-tube device [33].…”

Section: Objectivementioning

confidence: 99%

“…As previously described, the forward movement is driven by the periodic inflation and deflation of each of the tubes. In the previous work [31], we describe a mechanical principle of a braided tube device, and discovered that an inflation of a helical tube placed around a nonstretchable thread bends a device into a same direction helix. Specifically, the six-tube device can deform into a left-and right-handed helix with a left-and right-handed helical tube ( Fig.…”

Section: Objectivementioning

confidence: 99%

Development of a steerable in-pipe locomotive device with six braided tubes

Takeshima

Takayama

2018

Robomech J

Self Cite

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Numerous studies have developed in-pipe locomotive devices to inspect pipes. However, it is difficult to achieve selective locomotion in a branched piping system. In this study, a novel steerable in-pipe locomotive device is proposed based on "a six-braided-tubes locomotive device, " which is an in-pipe locomotive device that is actuated by only six pneumatic inflatable tubes. It is one of the simplest in-pipe locomotive devices that is capable of forward and backward motion and can rotate in clockwise and counterclockwise directions along a pipe, can select the desired pathway in the branched pipe. In this paper, we discuss the background of pipe inspection, classify previously developed in-pipe locomotive devices, and clarify the aim of this study. Additionally, we also describe and extend the locomotive principles of six-braided-tubes locomotive devices. Moreover, we propose a novel attachment, termed steering hook, to enable steering in various types of branched systems. Finally, we experimentally confirm that the novel proposed principle allows the device to correct path selection in an in-pipe branched piping system.

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Geometric Estimation of the Deformation and the Design Method for Developing Helical Bundled-Tube Locomotive Devices

Cited by 13 publications

References 22 publications

Soft Robotics in Minimally Invasive Surgery

Soft Robotics in Minimally Invasive Surgery

Multimodal pipe-climbing robot with origami clutches and soft modular legs

Development of a steerable in-pipe locomotive device with six braided tubes

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