Moving Characteristics in Bent Pipes of In-pipe Mobile Robot with Wheel Drive Mechanism using Planetary Gear Drive

Abstract

This paper describes the moving characteristics of an in-pipe mobile robot using a wheel drive mechanism for inside bent pipes. The wheel mechanism can drive the wheels and also press them against the pipe wall using only a single actuator and a planetary gear drive mechanisms. The actuator torque while moving inside a bent pipe can be given by multiplying a constant of the radius of curvature and diameter of the bent pipes by the actuator torque while moving inside a straight pipe. The results of the calculation were in agreement with the experimental value of the prototype robot, which is 45mm in diameter and 130mm length by using flexible coupling. It can move automatically and smoothly inside the piping composed of the vertical pipe, the bent pipe, and the stepped pipe.