A micro snake-like robot for small pipe inspection

Shuichi Wakimoto, Jun Nakajima, Masanori Takata, Takefumi Kanda, Koichi Suzumori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

44 Citations (Scopus)

Abstract

The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "Snaking Drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18mm to 100mm with the maximum speed of 36mm/s. And the robot could negotiate T-branches and L-bends of pipes.

Original languageEnglish
Title of host publicationMHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages303-308
Number of pages6
ISBN (Print)0780381653, 9780780381650
DOIs
Publication statusPublished - 2003
EventInternational Symposium on Micromechatronics and Human Science, MHS 2003 - Nagoya, Japan
Duration: Oct 19 2003Oct 22 2003

Other

OtherInternational Symposium on Micromechatronics and Human Science, MHS 2003
CountryJapan
CityNagoya
Period10/19/0310/22/03

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ASJC Scopus subject areas

  • Biotechnology
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Wakimoto, S., Nakajima, J., Takata, M., Kanda, T., & Suzumori, K. (2003). A micro snake-like robot for small pipe inspection. In MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science (pp. 303-308). [1249959] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MHS.2003.1249959