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A novel robotic mechanism for climbing in pips with non uniform diameter

Roi Barad, Naty Ronen, Ziv Levi, Uriel Braunshtain, and Alon Wolf

Pipe climbing is a complex task for a robotic system mainly due to ambiguity in pipe geometry, i.e. its diameter and junction of two or more pipes. In order to overcome these uncertainties we have developed a novel robotic structure that is executing an inch like locomotion pattern. This specific motion was inspired by Biomechanical observations of real snake locomotion in pips. The robot itself is composed of three independent scissors-like mechanisms, which are connected to each other by universal joints. The robots in-pipe motion is achieved by four steps. In step one, the lower mechanism is actuated until contact with the tube walls is detected, thus this mechanism now serves as an anchor. In step two, the middle mechanism is activated increasing its lengthen and pushing the upper mechanism forward. In step three, the upper mechanism is activated anchoring itself to the tubs wall. In step four, the lower mechanism is deactivated and the middle mechanism is deactivated and thus shortening its length and pulling the lower mechanism forward. The motion cycle is then repeated.

 

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Hydraulik v.1
Omni drive climber: 90 deg
Omni drive climber: 30 deg