FBM18 FOXBORO

According to the research group,this work analyzes the dynamic characteristics of the robot by considering the unique characteristics of soft materials,and adjusts the frequency and phase of the driving voltage accordingly to optimize the movement speed of the robot.This pipeline robot based on the principle of high-frequency peristaltic motion is powered by external cables,and realizes rapid horizontal and vertical movement in sub-centimeter-sized pipelines.In addition,it can be used in pipes of different geometries(reducers,L-shaped pipes,S-shaped pipes,spiral pipes,etc.),different filling media(air,oil,etc.)and different materials(glass,metal,carbon fiber,etc.)moving at high speed in the pipeline.In order to verify its pipeline inspection capability,a miniature camera was installed on the front of the robot to control the robot from the outside,and the robot successfully completed a set of pipeline inspection tasks at different speeds.

研究组介绍，该项工作通过考虑软材料的独特特性来分析机器人的动态特性，并相应地调整驱动电压的频率和相位，以优化机器人的运动速度。这个基于高频蠕动运动原理的管道机器人由外部的缆线来提供动力，在亚厘米大小的管道中实现了水平和垂直快速运动。此外，它能够在不同几何形状的管道（变径管、L形管、S形管、螺旋形管等）、不同的填充介质（空气、油等）和不同材质（玻璃、金属、碳纤维等）的管道中高速行进。为了验证其管道检测能力，机器人正面安装了一个微型摄像头，从外部控制该机器人，机器人以不同的速度成功完成了一组管道巡检任务演示。