Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
We aim to develop a flexible tube type in-pipe robot to advance and to carry wired sensors like a camera or washing hose inside narrow and curving pipelines. To fulfill this request, the ability to proceed while generating stable supporting force is required in pipes with varying pipe diameters. Then, this paper presents a novel pneumatic flexible actuator to deform to the shape of lambda, resulting in generating sufficient supporting force while responding to changes in diameter from 50 mm to 150 mm. The effectiveness of the proposed actuator is verified through experiments using a prototype and a mathematical model.
