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In moisture and wet conditions, the pipe inspection robot using pneumatic actuators is needed, as it has a high security feature that can prevent electric leakage as well as clean energy consumption. In the previous study, a pipe inspection robot using flexible pneumatic cylinders with two holding mechanisms that could move forward like an inchworm along the pipe by deforming the robot's body naturally had been proposed and tested. In that study, a pipe holding mechanism using an extension type flexible pneumatic actuator where volume change was small was developed. A compact bending unit using three extension type flexible pneumatic actuators was also developed. In this paper, to increase the driving force of the robot, an improved sliding mechanism that can extend, contract and bend in every direction is proposed and tested. Then the compact pipe inspection robot with the improved sliding mechanism using the flexible pneumatic cylinder will be presented and tested. The driving test of the robot travels in a complex pipe will also be carried out. As a result, it can be confirmed that the improved pipe inspection robot can pass through the complex pipe smoothly even if the pipe is set vertically.
Research papers (academic journals)
