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Rubber gas actuator driven by hydrogen storage alloy for in-pipe inspection mobile robot with flexible structure

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3 Author(s)
Fukuda, T. ; Dept. of Mech. Eng., Sci. Univ., Tokyo, Japan ; Hosokai, H. ; Uemura, M.

The authors describe rubber actuators using a hydrogen storage alloy for an in-pipe inspection robot, which is capable of moving inside pipelines with inner diameter as small as 2 in. Rubber actuators with both stretching and shrinking capability are shown for realization of such a robot. The proposed robot uses twelve actuators, including six kinds of independently controlled actuators, so that it si more flexible and adaptable in motion: it can move in an inchworm mode through pipelines, it is adaptive for changing pipe diameters, and it is able to pass over the L- and T-joints of pipelines. The robot actuators can initially be achieved and prepared by hydrogen gas. The control method is also shown, with a T-joint movement as an example

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989