Intelligent actuators realizing snake-like small robot for pipe inspection

Akina Kuwada, Kodai Tsujino, Koichi Suzumori, Takefumi Kanda

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

30 Citations (Scopus)

Abstract

Recently many accidents have happened due to insufficient inspections of pipes that are difficult to examine because they are often complex, underground, or in narrow spaces. In this research, the robot has been developed by applying a "sinusoidal wave drive" principle that allows robots to negotiate curved pipes and pipes of varying diameters by themselves. Previous papers reported the basic model robots to which this principle is applied. These robots show the principle's potential. In this paper a robot consisting of thirteen links is shown. Each link has an intelligent actuator that decreases the number of wirings, high performance to decentration processes, and high tolerance for electrical noise. We conducted experiments with this robot that show a wide range of applicable diameters from 36 to 180 [mm]. The robot can also negotiate the various shaped pipes and vertical pipes. These results show the potential of this system.

Original languageEnglish
Title of host publication2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
DOIs
Publication statusPublished - Dec 1 2006
Event2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS - Nagoya, Japan
Duration: Nov 5 2006Nov 8 2006

Publication series

Name2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS

Other

Other2006 IEEE International Symposium on Micro-Nano Mechanical and Human Science, MHS
CountryJapan
CityNagoya
Period11/5/0611/8/06

ASJC Scopus subject areas

  • Computational Mechanics
  • Control and Systems Engineering
  • Human Factors and Ergonomics

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