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Worm-Inspired, Untethered, Soft Crawling Robots for Pipe Inspections.

Yunwei Zhao1, Haoran Huang1, Weizhe Yuan2

  • 1School of Mechanical Engineering, Beihua University, Jilin, China.

Soft Robotics
|July 17, 2024
PubMed
Summary
This summary is machine-generated.

This study presents an autonomous soft robot for pipeline inspection. It uses pneumatic actuators for movement and anchoring, enabling autonomous navigation and obstacle removal in pipes.

Keywords:
bioinspired roboticsmodular designsoft pneumatic actuatorssoft robotstubular robotsuntethered robotsworm-inspired robots

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Increasing demand for infrastructure maintenance drives need for advanced inspection robots.
  • Existing robots lack flexibility and adaptability for complex pipeline environments.

Purpose of the Study:

  • To develop an autonomous soft robot for navigating and inspecting pipelines.
  • To enhance robot mobility, adaptability, and load-bearing capacity in confined spaces.

Main Methods:

  • Designed a soft robot with an elongation pneumatic actuator (EPA) body and radial expansion pneumatic actuators (REPAs) for adhesion.
  • Implemented an integrated pneumatic and electrical control system for synchronized movement and anchoring.
  • Developed a novel control strategy for coordinated body deformation and leg anchoring.

Main Results:

  • Achieved horizontal speed of 1.27 mm/s and vertical ascent of 0.39 mm/s.
  • Demonstrated anchoring strength >100 N, vertical propelling force of 43.8 N, and curved pipeline pulling strength of 31.4 N.
  • Successfully carried a camera for internal pipe viewing and autonomously removed obstacles.

Conclusions:

  • The developed soft robot offers unconstrained, autonomous navigation in pipelines.
  • Its advanced mobility and functionality open new possibilities for infrastructure inspection and maintenance.
  • This untethered soft robot represents a significant advancement in robotic inspection capabilities.