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The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "snaking drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18 mm to 100 mm with the maximum speed of 36 mm/s. And the robot could negotiate T-branches and L-bends of pipes.
control engineering computing
Published with permission from the copyright holder. This is the institute's copy, as published in Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on, 19-22 Oct. 2003, Pages 303-308.
Copyright © 2003 IEEE. All rights reserved.
Micromechatronics and Human Science