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This study proposes a self-locking-type expansion mechanism for in-pipe robots. Previously, we proposed a highspeed locomotion mechanism using pneumatic hollow-shaft actuators; however, this mechanism lacked holding force and could not pass through a bent pipe. The proposed mechanism generates a large holding force and can easily pass through a bent pipe by invoking a self-locking phenomenon. We conceptualize...
This study proposes a high-speed locomotion mechanism for a pipe-inspection robot. As a result of the narrow and complex structures of pipeline networks, it is difficult for robots to move quickly within the pipes. The new pneumatic mechanism proposed here realizes high-speed locomotion along with advantageous features for pipe inspection including a small diameter, flexibility, and low weight. First,...
A novel flexible pneumatic linear actuator is proposed in this paper. The proposed actuator realizes high-speed reciprocating motion by the moving part which has multiple rollers moves smoothly along the flexible hollow shaft. An effective application of this actuator is its use in endoscope robots and tether robots because cables of cameras or sensors can be passed inside the actuator by using the...
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