抄録
This paper presents the fabrication of a new high-speed small in-pipe mobile robot. The robot is made of a flexible rubber bellows which is 5 mm in outer diameter, 2 mm in inner diameter and 20 mm long. The robot is connected a thin tube which is 1 mm in inner diameter, 1200 mm long and feeds pneumatic and vacuum pressure to the robot. The pneumatic pressure of 0.10 Mpa and the vacuum pressure of -0.08 Mpa are used to drive the robot. The robot is equipped two thin friction-rings which are located at the front and one thin friction-ring which is located at the rear of the bellows. The maximum speed of 165 mm/s was obtained at the cycle time of 0.07 s.
