This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator ...This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.展开更多
Aluminum metallization using the sprayed coating for exhaust mild steel （MS） pipes of tractors is a standard practice for avoiding rusting. Patches of thin metal coats are prone to rusting and are thus considered as...Aluminum metallization using the sprayed coating for exhaust mild steel （MS） pipes of tractors is a standard practice for avoiding rusting. Patches of thin metal coats are prone to rusting and are thus considered as defects in the surface coating. This paper reports a novel configuration of the fiber optic sensor for on-line checking the aluminum metaUization uniformity and hence for defect detection. An optimally chosen high bright 440 nm BLUE LED （light-emitting diode） launches light into a transmitting fiber inclined at the angle of 60° to the surface under inspection placed adequately. The reflected light is transported by a receiving fiber to a blue enhanced photo detector. The metallization thickness on the coated surface results in visually observable variation in the gray shades. The coated pipe is spirally inspected by a combination of linear and rotary motions. The sensor output is the signal conditioned and monitored with RISHUBH DAS. Experimental results show the good repeatability in the defect detection and coating non-uniformity measurement.展开更多
基金supported by National Natural Science Foundation of China under Grant no.52475067.
文摘This paper presents an untethered pneumatic soft robot which can crawl both in horizontal and vertical pipes with different sizes and cross sections.This robot uses modular origami inspired soft-rigid hybrid actuator to produce telescoping and anchoring movements powered by vacuum pressure.The introduction of grooves to valley crease significantly lowers the full contraction vacuum pressure and improves the response,allowing the system can be driven by an onboard micro vacuum pump,enabling the possibility of miniaturization,integration,and untethered operation of the robot.A series of crawling experiments in pipes with different sizes and cross sections constructed by acrylic are conducted to validate the crawling performance of the robot.Within square cross-section pipes,the robot can achieve a velocity of 9.4 mm/s in horizontal crawling and 7.7 mm/s in vertical upward crawling.For horizontal crawling in circular pipes,it can reach a velocity of 8.0 mm/s.When fully charged,the robot can crawl for 40 min with a mileage of 16.649 m,which is sufficient for most drainage and industrial pipelines detection tasks.The robot demonstrates excellent endurance and speed performance that exceed most existing untethered soft pipe crawling robots.
文摘Aluminum metallization using the sprayed coating for exhaust mild steel （MS） pipes of tractors is a standard practice for avoiding rusting. Patches of thin metal coats are prone to rusting and are thus considered as defects in the surface coating. This paper reports a novel configuration of the fiber optic sensor for on-line checking the aluminum metaUization uniformity and hence for defect detection. An optimally chosen high bright 440 nm BLUE LED （light-emitting diode） launches light into a transmitting fiber inclined at the angle of 60° to the surface under inspection placed adequately. The reflected light is transported by a receiving fiber to a blue enhanced photo detector. The metallization thickness on the coated surface results in visually observable variation in the gray shades. The coated pipe is spirally inspected by a combination of linear and rotary motions. The sensor output is the signal conditioned and monitored with RISHUBH DAS. Experimental results show the good repeatability in the defect detection and coating non-uniformity measurement.
