主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2023
開催日: 2023/06/28 - 2023/07/01
There is a growing demand for in-pipe inspection robots for infrastructure maintenance. In actual pipelines, there is a pipe that two elbow pipes are continuously connected and bent three-dimensionally, called ”out-of-plane double elbow”. It is geometrically difficult for multi-link articulated wheeled robots to travel inside such a structure. In this manuscript, a two-link V-shaped in-pipe inspection robot ”AIRo-6.1” with a torque controllable active joint and two head and tail active spherical wheels is proposed. Travel performances in the out-of-plane double elbow was examined by experiments with four different starting postures. From the results, AIRo-6.1 successfully passed through those pipes.