In-Pipe Inspection Micro Robot Adaptable to Changes in Pipe Diameter | Zendy

Shuichi Wakimoto | Zendy; Koichi Suzumori | Zendy; Masanori Takata | Zendy; Jun Nakajima | Zendy

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In-Pipe Inspection Micro Robot Adaptable to Changes in Pipe Diameter

Author(s) -

Shuichi Wakimoto,

Koichi Suzumori,

Masanori Takata,

Jun Nakajima

Publication year - 2003

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2003.p0609

Subject(s) - mechanism (biology) , robot , nominal pipe size , mobile robot , channel (broadcasting) , mechanical engineering , engineering , computer science , materials science , simulation , structural engineering , artificial intelligence , electrical engineering , physics , composite material , quantum mechanics

In the development of a microrobot for inspecting the inside of pipes with an internal diameter of 1 to 3 inches, the author of this paper designed an in-pipe mobile mechanism adaptive to pipe diameter based on a snake robot and evaluated it theoretically and experimentally. The authors fabricated 2 robots of different size. The first, Prototype A, was used to verify functions and confirm the driving mechanism. It demonstrated basic motion and moved in all directions during an experiment in which the robot passed through a T-shaped pipe. The second, Prototype B, was downsized and could run in narrow channel whose width changes from 0.7 to 3.9 inches.

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