One pneumatic line based inchworm-like micro robot for half-inch pipe inspection

Lim, Jinwan; Park, Hyunjun; An, Jae-Min; Hong, Yeh-Sun; Kim, Byung Kyu; Yi, Byung-Ju

doi:10.1016/j.mechatronics.2008.05.007

Cited by 88 publications

(43 citation statements)

References 3 publications

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“…Legged robots have been developed in literature; however, they require a large number of actuators and potentially-complicated body structures to mimic locomotion patterns of animal counterparts [1][2][3]. Since it's difficult to apply such mechanisms for small scale applications, inchworm like locomotion has been investigated for centimeter-scale robotic applications [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Miniature Modular Inchworm Robot

Saab

Kumar

Ben-Tzvi

2016

Volume 5A: 40th Mechanisms and Robotics Conference

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This paper presents the design and analysis of a bioinspired miniature modular Inchworm robot. Inchworm robots play crucial roles in surveillance, exploration and search and rescue operations where maneuvering in confined spaces is required. Rectilinear gaits have been demonstrated with favorable results in terms of stability and small size due to the absence of wheels and tracks; however, exhibit slow speeds. The proposed mechanism utilizes undulatory rectilinear gait motion through linear expansion/contraction of modules and anisotropic friction skin to produce pure linear motion. The use of anisotropic friction skin results in a simple, low cost, miniature mechanical structure. Friction analysis of the anisotropic material is performed and the system is modeled to derive its equations of motion. Modeling and simulation results are validated through experiments performed with an integrated prototype. Results indicate that the robot can achieves an average forward velocity of 11 mm/s on various surfaces.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Miniature Modular Inchworm Robot

Saab

Kumar

Ben-Tzvi

2016

Volume 5A: 40th Mechanisms and Robotics Conference

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“…For this application, the specific design enhancements on the robots are required to carry out inspection and repair activities. To some extent, the complexity goes to extreme of producing a micro-robot with a diameter of 10 mm [4].…”

Section: Fig 1: Worldwide Annual Supply Of Industrial Robots [14]mentioning

confidence: 99%

Development and Adaptability of In-Pipe Inspection Robots

Yahya¹,

Ashrafi²,

Humod³

2014

IOSRJMCE

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“…When the deflection direction of the wheels changes, the error may be greater that depends on the technology and precision of manufacturing [11] [12]. The impact caused by the error on the car body should be considered in the process of designing the algorithm and the running process of the system.…”

Section: ⅱ Characteristics Of the Wheel Bodymentioning

confidence: 99%

Design of the Optimal Path Algorithm for Line Track Robots

Yao

Yuan

et al. 2009

2009 First International Workshop on Education Technology and Computer Science

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According to the path information collected, combined with the characteristics of the car body, the data of the path has been analyzed, the path optimizing algorithm for line track robots has been established, and the correctness of the algorithm has been verified in experiments in this paper. The algorithm design has some certain significance for the line track optimization of robots and the autopilot of vehicles.

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One pneumatic line based inchworm-like micro robot for half-inch pipe inspection

Cited by 88 publications

References 3 publications

Design and Analysis of a Miniature Modular Inchworm Robot

Design and Analysis of a Miniature Modular Inchworm Robot

Development and Adaptability of In-Pipe Inspection Robots

Design of the Optimal Path Algorithm for Line Track Robots

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