Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : March 13, 2024 - March 14, 2024
In this paper, we describe the made of snake type in-intestinal traveling robot. To inspect the inside of the large intestine, a robot is inserted into the large intestine. But the large intestine is folds and has different internal diameters in different places. In order to realize a robot that can travel in pipes with different inner diameters, we have proposed the intestine traveling robot that mimics the accordion motion of snakes, which is a method of moving inside pipes and vertical holes. The snake type in-intestine traveling robot is composed of three body segments to realize accordion motion. The front and back body sections consist of actuators that can flex, and the flexing of the body sections serves as a braking section that can hold the tube. The center section consists of actuators that provide the displacement necessary to drive the robot and is configured as the displacement part.
