Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
This paper shows directional steering method of In-pipe robot in branch pipes, especially vertical ones. To realize this method, we need to meet 2 conditions. One is geometrical condition of curving shape to insert head of robot into brunched destination, the other is mechanical condition of flexural rigidity not to buckle in branch pipe. In order to meet these conditions, we propose new directional steering unit for geometrical condition and rigidity improving structure for mechanical condition. Directional steering unit can generate bending motion with curvature difference, so it can adapt shape of brunch pipe. Rigidity improving structure can improve rigidity of unit without impeding motion of units because of cylinder of the structure. By these methods, prototype robot can propel vertical branch pipe.
