Soft Bellow-Based 3D Printed Robot for in-Pipe Inspection Applications

In-pipe inspection frequently involves toxic chemicals, fluids, and spaces that are inaccessible to human operators. To ensure the well-being of workers in this sector, various approaches have been explored, most notably the use of rigid robotics. These robots use rigid elements linked together, along with multiple actuators, to achieve movement. However, the main drawback of rigid robotics is their difficulty in adapting to changing, unstructured environments. However, in the past decade, the use of soft robots, which employ soft materials as the basis for their operation, has begun to be studied for these types of tasks. The use of these materials in the robot's actuators offers significant adaptability, enabling more efficient movement and performance in unstructured environments. Additionally, the soft actuators allow the robot to navigate irregular surfaces, overcome small obstacles, and change direction within pipes without the need for extra actuation systems. This article explores the use of soft robotics in pipe inspection tasks, showcasing their potential in such applications. The study highlights the benefits of using Finite Element Modeling (FEM) combined with hyperelastic models during the initial design and planning stages to predict and better plan the behavior of the soft robot prior to its manufacturing.