2系統の空気供給で駆動する尺取り虫型小径配管内推進機構

抄録

This study proposes a novel inchworm locomotion mechanism for in-pipe robots. Locomotion mechanisms for in-pipe robots must satisfy multiple limitations including compactness, flexibility, high locomotion speed, explosion-proof, etc. In this paper, a novel pneumatic inchworm mechanism is proposed to achieve high locomotion performance under such limitations. A unique duplex chambered structure of the mechanism generates smooth bi-directional locomotion by using pressure changes of two air supply lines. Its advantageous structure also contributes to compactness, lightness, and flexibility of the mechanism. The experimental results showed that the mechanism successfully locomotes through 25-mm horizontal/vertical pipes, achieving 45.5 mm/s of averaged speed in horizontal pipes.