面向小孔径T形管道的气动软体机器人转向策略

doi:10.12066/j.issn.1007-2861.2355

Abstract

Abstract:

Currently, new robotic technology is widely used in pipeline maintenance and inspection. Robots made of soft materials have been developed and used in pipeline inspection to overcome the limitations of rigid in-pipe robots and improve maneuverability. The turning control of soft robots in pipelines is a great challenge, owing to the various specifications and branches of pipelines. A soft robot for pipes with small diameters was developed in this study to solve this problem using a kinematic model. Based on this model, the flexible turning strategy of robots in T-branch pipes was established. Finally, the effectiveness and accuracy of the turning strategy were verified using experiments. The proposed turning strategy can effectively improve the mobility and intelligence of soft in-pipe robots in T-branch pipes.

Key words: soft robot, in-pipe robot, turning strategy, pneumatic control

CLC Number:

TP242

YANG Yang, ZHAO Runhe, LI Tianbo, ZHAO Yongjian, QI Yuyan, ZHONG Songyi. Turning strategy of soft robot for T-branch pipes with small sizes[J]. Journal of Shanghai University（Natural Science Edition）, 2022, 28(5): 908-920.

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Turning strategy of soft robot for T-branch pipes with small sizes

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