1P1-P01 蠕動運動を規範とした細管・曲管走行型工業用内視鏡ロボットの開発(バイオロボティクス)

概要

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Recently, many pipe accidents have been reported. These were caused by corrosions or deteriorations, so in-pipe inspections have been performed with fiber scopes to prevent such problems; however, they cannot be inserted into pipes that are greater than 15 m in length or into complex pipes. Therefore, in-pipe inspection robots are required for such uses. In this paper, we are developing a robot capable of propelling itself through various pipes, such as long pipes and elbow pipes, specifically, a peristaltic crawling robot using DC brushless motor and screws for in-pipe inspection. In addition, we performed a experiment in 27 mm diameter acrylic straight pipes and an aluminum elbow pipe to see if the robot can be pass the elbow pipe.
一般社団法人日本機械学会の論文
2011-05-26