A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot
A self-locking-type expansion mechanism to achieve high holding force and pipe-passing capability for a pneumatic in-pipe robot
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DOI：
10.1109/icra.2017.7989221
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发表时间：
2017-05
期刊：
影响因子：
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通讯作者：
Tomonari Yamamoto;M. Konyo;K. Tadakuma;S. Tadokoro
中科院分区：
文献类型：
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作者：
Tomonari Yamamoto;M. Konyo;K. Tadakuma;S. Tadokoro
本研究提出一种适用于管道机器人的自锁式伸缩机构。以前，我们提出了一个高速运动机制，使用气动空心轴致动器，但是，这种机制缺乏保持力，不能通过弯曲的管道。所提出的机制产生一个大的保持力，可以很容易地通过调用自锁现象通过弯曲的管道。我们概念化和设计的新的扩展机制，并介绍其相关的数学模型，制定的保持力和机制设计。通过实验阐明了该机构的特点和性能。根据实验结果，我们优化了施加的压力和机构的设计。该机构产生的最大夹持力为69.7 N，这是5.2倍，比以前的机构，并大大提高了机器人的管道通过能力。最后，在模拟管道试验中证实了该机制的性能。在这项试验中，机器人配备了所提出的机制，顺利和稳定地通过复杂的管道配置，包括垂直和弯曲的管道移动。
This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize and design the novel expansion mechanism and introduce its associated mathematical model to formulate the holding force and mechanism design. The characteristics and capabilities of the mechanism are elucidated by experiments. From the experimental results, we optimize the applied pressure and the design of the mechanism. The proposed mechanism generates a maximum holding force of 69.7 N, which is 5.2 times higher than that of the previous mechanism, and drastically improves the robot's bent-pipe-passing capability. Finally, the performance of this mechanism is confirmed in a simulated pipe test. In this trial, a robot equipped with the proposed mechanism smoothly and steadily moves through complex pipe configurations, including the vertical and bent pipes.