論文

査読有り
2016年

Design and analysis of a pneumatic high-impact force drive mechanism for in-pipe inspection robots

ADVANCED ROBOTICS
  • Ye Hua
  • ,
  • Masashi Konyo
  • ,
  • Satoshi Tadokoro

30
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
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
  • 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

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