Double Helical Actuator Aimed for Inspecting in Narrow Spaces

抄録

This paper presents a novel tube-type pneumatic helical actuator generating complex 3-dimensional torsional motions. Inspired by the molecular structure of DNA, this actuator is fabricated by combining two helical contraction actuators, introduced in our previous research, in parallel and covered by a sleeve. By controlling the air pressure and top rotation angle of each helical actuator, this double helical actuator can realize bidirectional screwing, curving, and mixture of screwing and curving in a 3-dimensional space. Qualitative working principles of these patterns are analyzed, and two mathematical models are introduced to explain the motion patterns of this actuator, and validated through experiments. The effectiveness as an application to a flexible manipulator for inspection in narrow spaces is investigated and its validity is experimentally verified.