This work has been published in IEEE Transactions on Industrial Electronics.
https://ieeexplore.ieee.org/document/...
Print ISSN: 0278-0046
Electronic ISSN: 1557-9948
DOI: 10.1109/TIE.2022.3201301
Publisher: IEEE
Funding Agency:
Gesuido Academic Incubation to Advanced Project (GAIA Project) of the Ministry of Land, Infrastructure, Transport and Tourism

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AIRo-5.2 is the modified version of our previously developed in-pipe inspection robot AIRo-5.1. This robot is composed of two passive compliant joints and only one single active compliant joint. The joint angle and the torque of the middle joint can be controlled to adapt to bend, branch, vertical pipes as well as slippery surfaces. A series elastic actuator (SEA) with a high reduction system and an improved durable polyurethane rubber is installed to sense the joint torque. To smoothly pass through T-branches, an angle trajectory of the middle joint is calculated based on the pipe geometry and it is interpolated by a cosine curve.

AIRo-5.1
   • IROS 2020: A Multi-link In-pipe Inspe...  
AIRo-5.0
   • AIRo-5.0: Preliminary Experiment in a...  

[Specification of AIRo-5.2]
Adaptive pipe inner diameter: 4-5 inch
Total length (when extended): 0.51 m
Total weight (without cable): 2.37 kg
Max. moving speed: 0.08 m/s
Max. continuous traction force: 202 N (20.6 kgf)
Peak traction force: 808 N (82.4 kgf)
Max. continuous joint torque: 3.76 Nm
Peak joint torque: 15 Nm
Joint angular speed: 13.6 rpm (1.43 rad/s)
Nominal voltage: DC 24 V
Communication: Controller Area Network (CAN)

Lab website
http://www.malab.se.ritsumei.ac.jp/

#Ritsumeikan #Robot #Pipe #Inspection
#立命館 #ロボット #配管 #検査