論文

基本情報

氏名 篠原 隆
氏名(カナ) シノハラ タカシ
氏名(英語) Shinohara Takashi
所属 機構 研究社会連携機構 工作センター
職名 講師
researchmap研究者コード R000032420
researchmap機関 岡山理科大学

題名

Development of Pneumatic Drive Pipe Inspection Robot using Radial Bending Type Soft Actuator

単著・共著の別

共著

著者

Takashi SHINOHARA, Hikaru FURUYA, Tetsuya AKAGI, Shujiro DOHTA, Takumi KOBAYASHI, So SHIMOOKA

概要

In this paper, for the purpose of developing a pipe inspection robot that can catch pipes whose diameter has changed due to rust generated inside, the pipe holding mechanism that can flexibly catch various size of pipes was prototyped. A novel pipe holding mechanism using three extension type flexible pneumatic actuators (EFPAs) that holds the pipe while bending radially was proposed and tested. Also, the holding characteristics for various pipes of the tested mechanism was investigated. Furthermore, the inchworm-type robot using the tested holding mechanism was also proposed and tested. As a result, it could be confirmed that the robot could travel on the straight pipes and complicated pipes that consists of different pipes. In addition, a novel propulsion mechanism using only two holding mechanisms was also proposed and tested. It was also confirmed that a speed of 4.5 mm/s was obtained and that it could travel in a curved pipe.

発表雑誌等の名称

Transactions of the JFPS/ JFPS International Journal of Fluid Power System

出版者

Vol.15

No.1

開始ページ

7

終了ページ

16

発行又は発表の年月

2022/06

査読の有無

有り

招待の有無

無し

記述言語

英語

掲載種別

研究論文(学術雑誌)

ISSN

ID:DOI

ID:NAID(CiNiiのID)

ID:PMID

URL

JGlobalID

arXiv ID

ORCIDのPut Code

DBLP ID