NDLI: Development of an in-pipe inspection robot for narrow pipes and elbows using pneumatic artificial muscles

Content Provider	IEEE Xplore Digital Library
Author	Ikeuchi, M. Nakamura, T. Matsubara, D.
Copyright Year	2012
Description	Author affiliation: Faculty of Science and Engineering, Department of Precision Mechanics, Chuo university, 1-13-27 Kasuga, Bunkyo-ku, Tokyo 112-8551, Japan (Ikeuchi, M.; Nakamura, T.; Matsubara, D.)
Abstract	Pipe failures resulting from corrosion or other forms of deterioration are a common occurrence. To combat this problem, in-pipe inspections are required Fiberscopes are currently used as industrial endoscopes to inspect pipes for defects. However, because of friction, fiberscopes cannot be inserted into pipes that are more than 15 m long or have complex shapes such as elbows. Therefore, in-pipe inspection robots need to be self-propelling. In this study, we developed two robots that mimic the peristaltic crawling motion of earthworms as a locomotion mechanism. These robots consist of several units. Each unit has an artificial muscle that is driven by pneumatics. Each of the robots has an internal space to hold inspection apparatus. We conducted several experiments with a robot inside a 25A acrylic pipe (diameter: 27 mm). These experiments were conducted to examine the relationship between the locomotion speed and motion patterns. The robot was able to pass through the elbows that were positioned in both horizontal and vertical planes. In addition, we developed a smaller robot for a 15A pipe (diameter: 16 mm) to examine the relationship between the locomotion speed and motion patterns. Our findings exhibited good performance by the robots.
Starting Page	926
Ending Page	931
File Size	1259820
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385925
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Pneumatic systems Elbow Muscles Inspection Mobile robots Electron tubes
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Development of a peristaltic crawling inspection robot for 1-inch gas pipes with continuous elbows

Development of a peristaltic crawling robot attached to a large intestine endoscope using bellows - type artificial rubber muscles

Continuous robot control using surface electromyography of atrophic muscles

An In-pipe robot with multi-axial differential gear mechanism

Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles: II. Application to EMG-based human-machine interface for an elbow-joint system

Stiffness control of a pneumatic rehabilitation robot for exercise therapy with multiple stages

Development of in-pipe material transporter robot

Development of slide type inspection robot using flexible pneumatic cylinder

Mutual telexistence surrogate system: TELESAR4 - telexistence in real environments using autostereoscopic immersive display -

Development of an in-pipe inspection robot for narrow pipes and elbows using pneumatic artificial muscles

Similar Documents

Development of a peristaltic crawling inspection robot for 1-inch gas pipes with continuous elbows

Development of a peristaltic crawling robot attached to a large intestine endoscope using bellows - type artificial rubber muscles

Continuous robot control using surface electromyography of atrophic muscles

An In-pipe robot with multi-axial differential gear mechanism

Novel equilibrium-point control of agonist-antagonist system with pneumatic artificial muscles: II. Application to EMG-based human-machine interface for an elbow-joint system

Stiffness control of a pneumatic rehabilitation robot for exercise therapy with multiple stages

Development of in-pipe material transporter robot

Development of slide type inspection robot using flexible pneumatic cylinder

Mutual telexistence surrogate system: TELESAR4 - telexistence in real environments using autostereoscopic immersive display -

Development of an in-pipe inspection robot for narrow pipes and elbows using pneumatic artificial muscles