High-speed response of the pneumatic actuator used in a peristaltic crawling robot inspecting long-distance gas pipes
| Autor: | Yasuyuki Yamada, Tatsuya Kishi, Shota Yamazaki, Yuki Tanise, Taro Nakamura |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Pneumatic actuator business.industry Mobile robot Solenoid 02 engineering and technology Crawling Inspection time 020901 industrial engineering & automation Installation 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Artificial muscle business Simulation Marine engineering |
| Zdroj: | AIM |
| DOI: | 10.1109/aim.2016.7576939 |
| Popis: | At present, city infrastructures are supported by buried gas pipes. Recently, to prevent gas leakage from old gas pipes (which can lead to accidents), routine inspections are required. However, current inspection methods require enormous cost and time. To solve this problem, researchers have developed various pipe inspection robots; however, these robots have difficulty climbing or maneuvering through narrow pipes. Therefore, we focused on the peristaltic crawling of an earthworm. This motion provides a large contact surface area in small spaces, enabling movement through narrow pipes. Therefore we developed a peristaltic crawling robot. It is installed with a straight-fiber-type artificial muscle and is driven by a fire-safe pneumatic system. However, delaying air transmission reduces the velocity of the robot. Considering the costs of hiring workers and the problems created by incidents such as roadblocks, a short inspection time is desired. Installing a solenoid to increase the robot's velocity is impractical in gas pipes because it increases the fire risk. Therefore, we propose an air discharge hole on-off mechanism and instant-supply high pressure and confirm their efficacy in the present study. |
| Databáze: | OpenAIRE |
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