Electromagnetic worm-like locomotion system for in-pipe robots: Design and vibration-driven motion analysis

Abstract

This paper investigates an electromagnetic worm-like locomotion system (WLLS) with simple design and control. The WLLS consists of two elastically connected ring-like segments that form two coupled electromagnetic actuators. The actuators generate longitudinal and transverse displacements that lead to locomotion due to changes of normal pressure and friction forces. The paper presents the electromagnetic WLLS design and the locomotion principle. A simplified approach to the analysis, modelling and simulation of the vibration-driven locomotion has been developed. The numerical simulation results show that the electromagnetic WLLS is able to move and climb quite quickly in inclined pipes. The obtained model allows to determine optimal controls and parameters, for example, to achieve high traction ability of the WLLS.