抄録
This paper presents a new method to advance and to carry wired sensors like a camera inside narrow and curving pipelines, which is aimed at inspecting inside the pipelines. To fulfill this request, a Twin-tube Probe Robot is proposed. So far, it was verified through experiments that this robot was able to climb up narrow and curving pipelines. This time, a steering mechanism is proposed, realizing the curving motion with two degrees of freedom. By utilizing this steering system, this robot was successfully able to cross over obstacles by lifting up the head unit. Additionally, this mechanism was capable of selecting the propelling direction in T-shaped junction.
