ヘビ型ロボットが螺旋捻転運動を用いて配管内を移動する際の清掃能力の検証

抄録

One of the applications of a snake robot is to move the inside and outside of a pipe for checking and inspection by using a movement specific to a snake robot called helical rolling motion. When a snake robot moves in a pipe, it moves by rubbing it body to the inside of a pipe. It is expected to clean the interior of a pipe simultaneously with inspection the inside of a pipe. Therefore, in this study, we examined cleaning ability of a snake robot when it moves in a pipe. In the experiment, dirt was simulated by putting flour on the inside of a pipe. To evaluate the cleaning ability of a snake robot, we measure the area where the flour is left. We did two types of experiment, and it was found that sufficient cleaning ability can be expected by reciprocating a snake robot in the pipe.