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Wireless flow-powered miniature robot capable of traversing tubular structures
Chong Hong1,2, Yingdan Wu1,2, Che Wang1
1State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150080, China.
Science Robotics
|March 13, 2024
Summary
This study introduces a wireless, millimeter-scale robot that navigates pipelines using fluid flow for power. This innovative flow-powered robot enables long-distance inspection and maintenance in various tubular structures.
Area of Science:
- Robotics and Automation
- Fluid Mechanics
- Materials Science
Background:
- Millimeter-scale robots are crucial for inspection and maintenance in nuclear, industrial, and medical tubular systems.
- Current robots face limitations in operational range and environment due to reliance on external power sources.
- Onboard power solutions often compromise robot size, functionality, or operational duration.
Purpose of the Study:
- To develop a wireless, millimeter-scale robot powered entirely by environmental fluid flows for autonomous locomotion in pipelines.
- To enable long-distance inspection, maintenance, and repair tasks in complex tubular structures without external power constraints.
Main Methods:
- A novel flow-powering module converts fluid energy into mechanical energy, achieving high impeller speeds and power density.
- A miniature gearbox transmits mechanical energy for locomotion, enabling movement against water flow.
- Kirigami-based soft wheels were designed for adaptive locomotion across diverse pipe geometries and materials.
- External magnetic fields or onboard regulators control the robot's motion status (forward, backward, pause).
Main Results:
- The flow-powering module achieved an impeller speed of up to 9595 rpm with 11.7 W/m³ power density and 33.7% efficiency.
- The robot demonstrated locomotion against water flow at an average speed of up to 1.05 m/s.
- The robot successfully transported payloads and integrated inspection/maintenance devices, including cameras and leak-stoppers.
Conclusions:
- The developed flow-powered robot offers a self-sufficient solution for navigating and performing tasks in challenging pipeline environments.
- This technology significantly expands the potential applications of millimeter-scale robots in infrastructure inspection and maintenance.
- The robot's adaptive design and flow-actuated locomotion represent a breakthrough in autonomous robotic systems for confined spaces.
