Non-assembly Walking Mechanism for Robotic In-Pipe Inspection

George H. Jackson-Mills*, Basil A. Shead, James R. Collett, Masego Mphake, Nicholas Fry, Andrew R. Barber, Jordan H. Boyle, Robert C. Richardson, Andrew E. Jackson, Shaun Whitehead

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

3 Citations (Scopus)

Abstract

The manufacture and assembly of small-scale robotics can be expensive and time-consuming using traditional methods; especially when complex mechanisms are involved. By refining current additive manufacturing techniques a micro-scale walking robot can be 3D printed without the need for any complex mechanical assembly. The robot requires only the addition of simple circuitry and 2 motors, one for each of the 1 degree of freedom walking mechanisms before it is capable of being driven wirelessly. Once fully assembled, differential drive of the parallel leg sets allows for locomotion in any direction on a 2-D plane. The robot’s compact size; just 62 mm (x) × 38 mm (y) × 88 mm (z), and leg curvature makes travel possible through borehole/pipe diameters as low as 65 mm. By pushing printer tolerances to the limit, complex mechanisms can work in Non-Assembly at a small scale. Through the Query application of these Non-Assembly techniques to field robots such as those intended for use in the Pipebots project could allow for the production of large swarms of robots quickly and affordably.

Original languageEnglish
Title of host publicationRobotics for Sustainable Future, CLAWAR 2021
EditorsDaisuke Chugo, Mohammad Osman Tokhi, Manuel F. Silva, Taro Nakamura, Khaled Goher
PublisherSpringer
Pages117-128
Number of pages12
ISBN (Print)978-303086293-0
DOIs
Publication statusPublished - 2022
Externally publishedYes
Event24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 - Virtual, Online
Duration: 30 Aug 20211 Sept 2021

Publication series

NameLecture Notes in Networks and Systems
Volume324 LNNS
ISSN (Print)2367-3370
ISSN (Electronic)2367-3389

Conference

Conference24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021
CityVirtual, Online
Period30/08/211/09/21

Keywords

  • 3D printing
  • In-pipe
  • Robot
  • Walking

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