@inproceedings{f355cba87cff4789bfd8dbf6fbd1896f,
title = "Non-assembly Walking Mechanism for Robotic In-Pipe Inspection",
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{\textquoteright}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.",
keywords = "3D printing, In-pipe, Robot, Walking",
author = "Jackson-Mills, {George H.} and Shead, {Basil A.} and Collett, {James R.} and Masego Mphake and Nicholas Fry and Barber, {Andrew R.} and Boyle, {Jordan H.} and Richardson, {Robert C.} and Jackson, {Andrew E.} and Shaun Whitehead",
year = "2022",
doi = "10.1007/978-3-030-86294-7_11",
language = "English",
isbn = "978-303086293-0",
series = "Lecture Notes in Networks and Systems",
publisher = "Springer",
pages = "117--128",
editor = "Daisuke Chugo and Tokhi, {Mohammad Osman} and Silva, {Manuel F.} and Taro Nakamura and Khaled Goher",
booktitle = "Robotics for Sustainable Future, CLAWAR 2021",
note = "24th International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2021 ; Conference date: 30-08-2021 Through 01-09-2021",
}