2016年
Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots
ADVANCED ROBOTICS
- ,
- ,
- 巻
- 30
- 号
- 19
- 開始ページ
- 1260
- 終了ページ
- 1272
- 記述言語
- 英語
- 掲載種別
- 研究論文(学術雑誌)
- DOI
- 10.1080/01691864.2016.1205511
- 出版者・発行元
- TAYLOR & FRANCIS LTD
A pneumatic actuator is suitable and safe for in-pipe inspection robots in inflammable circumstances because of its ability to withstand explosions. However, ordinary pneumatic actuators limit driving speed because of their slow response. In this paper, we propose a novel pneumatic drive mechanism that can produce a high-impact force to move the in-pipe robot forward with sufficient speed by a catastrophic phenomenon using rapid release between a magnet and springs. We also introduce an anisotropic friction mechanism that uses a self-locking phenomenon to transmit the impact force to the pipe walls efficiently. A pin retraction mechanism that releases the self-locking condition is applied to retrieve the robot from the pipes. Optimizations of the proposed design were conducted based on a motion simulation model and verified in experiments. The experimental results obtained for maximum driving speeds in a straight pipe with different material types were approximately 90 and 50 mm/s for horizontal and vertical pipes, respectively. Stable strokes were also observed at different driving frequencies from 0.5 to 2.0 Hz.
- リンク情報
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- DOI
- https://doi.org/10.1080/01691864.2016.1205511
- DBLP
- https://dblp.uni-trier.de/rec/journals/ar/HuaKT16
- Web of Science
- https://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcAuth=JSTA_CEL&SrcApp=J_Gate_JST&DestLinkType=FullRecord&KeyUT=WOS:000382586100002&DestApp=WOS_CPL
- URL
- https://www.wikidata.org/entity/Q58026246
- URL
- https://dblp.uni-trier.de/db/journals/ar/ar30.html#HuaKT16
- Scopus
- https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84980378567&origin=inward
- Scopus Citedby
- https://www.scopus.com/inward/citedby.uri?partnerID=HzOxMe3b&scp=84980378567&origin=inward
- ID情報
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- DOI : 10.1080/01691864.2016.1205511
- ISSN : 0169-1864
- eISSN : 1568-5535
- DBLP ID : journals/ar/HuaKT16
- SCOPUS ID : 84980378567
- Web of Science ID : WOS:000382586100002