Traction Amplified Actuation System for Inspecting Narrow and Complex Pipes using Enhanced Linear Antagonistic Mechanism-Bend pipe Passage Model and Force Comparison

This paper describes the design, experiments, and quantitative force comparison of a Pipe Inspection RObot named PI-RO II using enhanced linear antagonistic mechanism to amplify traction. study aims develop an inspection robot for long, narrow, complex pipes requiring large traction, propulsion, flexibility. Many types pipe soft pneumatic actuators were proposed in conventional studies, focusing on compatibility, high-power characteristics, In previous study, we allowing generate both high traction propulsion with flexibility narrow pipes. The extension actuator is distributed propulsion. However, when was required, insufficient because Furthermore, decreased actuator’s elongation/contraction length absorbed due changing robot’s movement path bending pipe. described that amplified through active multiple integrated even required. Moreover, design method explained keep II’s axis consistent center this inspected upward pipeline 4.5 m, including 5 elbow three times consecutively within approximately 1250 s, respectively. Considering effects applied pressure diameter, function value 1.79 larger than study. allows sum values various pneumatically driven robots by non-dimensionalizing inner diameter pressure. result shows has possibility Therefore, believe will improve moving efficiency robots.