分岐管の走行を目的とした空気圧駆動式管内走行ロボット

(屈曲機構の最適化とその制御)

抄録

While the water pipeline network plays an important role as social infrastructure with a penetration rate of over 98 %, the deterioration of reliability of existing pipelines due to age-related deterioration is a serious issue. To address this issue, this study proposes a new pipeline inspection method using an in-pipe traveling robot equipped with a soft actuator. In particular, we focus on the development of an in-pipe traveling robot that can follow changes in pipe inner diameter and has high traveling stability, and we have conducted a basic study to realize a branch pipe traveling robot. The robot developed in this study has a bellows-type displacement mechanism arranged in a 2 x 2 matrix, and employs a method to control the displacement direction of the robot by controlling the supply pressure to each body section individually. This control method is intended to achieve smooth running in right-angled and T-angled pipes. This paper describes the details of the robot mechanism design and the supply pressure control method.