Pipeline Inspection Tests Using a Biomimetic Robot.

Elizabeth Islas-García,Christopher R Torres-Sanmiguel,Marco Ceccarelli,Ricardo Tapia-Herrera

doi:10.3390/biomimetics6010017

Abstract

This paper presents a biomimetic prototype of a mobile robot that can be used to inspect the subdrainage conditions of pipelines located along different highways in Mexico. Computer-aided design tools have been used to size each of the prototype components as inspired by anatomical spider structure. Springs are integrated to generate proper contact pressure against the pipe walls. The robot locomotion system is implemented with adaptable behaviour for the irregularities of pipelines along its journey. The robot prototype is manufactured in 3D printing with the advantage of having its spare parts easily replaceable. Reported results show internal pipe status through a mini video camera on the top of the robot.

Highlights

The locomotor behaviour and physiological characteristics of animals can reference robot development to perform different autonomously tasks under operator control
Robot design depends on the characteristics and conditions of the environment of its operation
Applications are on areas where humans are unable to access, for search and rescue in a natural event or disaster [2], inspection tasks [3], maintenance and cleaning [4], among others robotics service [5]

Summary

Introduction

The locomotor behaviour and physiological characteristics of animals can reference robot development to perform different autonomously tasks under operator control. Robot design depends on the characteristics and conditions of the environment of its operation. Applications are on areas where humans are unable to access, for search and rescue in a natural event or disaster [2], inspection tasks [3], maintenance and cleaning [4], among others robotics service [5]. Most robots use wheels for their locomotion, achieving high speeds; they have disadvantages due to irregular travel areas [6]. The alternative of wheels locomotion is leg systems that are flexible and can avoid obstacles, controlling the legs independently; they have multiple degrees of freedom [7]. Spiders inspire a climbing robot’s design with low energy cost and legs adhere to any surface walls [8]

Methods

Results

Conclusion