Complibot: A compliant external pipe climbing robot

Abstract

The article presents the design of Complibot, a robot with a novel gripper for pipe climbing. The mechanism of the gripper involves the use of a bistable buckled beam, which is a type of bistable compliant mechanism. The bistable buckled beam in the gripper is alternately actuated between its gripped and ungripped states using a camshaft and lever mechanism, which is powered by a single DC motor. The design parameters associated with the gripper are obtained both experimentally and numerically. A proper selection of design parameters helps in the efficient functioning of the gripper. After the design of the gripper, two such grippers are fabricated and attached to each other by two stepper motor-driven lead screws to make a pipe climbing robot with inchworm locomotion. The mobility of the robot is controlled by an Arduino Uno microcontroller after the electronic components have been integrated. Finally, Complibot is subjected to a series of tests to establish its maximum load-carrying capacity when climbing a polyvinyl chloride (PVC) pipe. Complibot is found to perform satisfactorily without slipping while climbing a PVC pipe with a diameter of 105–115 mm, a velocity of 0.2 m/min, a power consumption of 18.58 W, a maximum load-carrying capacity of 114.64 N, and a payload to weight ratio of 0.52.