Abstract
This paper presents a variable-diameter TRM (Tension Release Mechanism) that can reduce the traction load for inspecting long-distance pipes. In this study, long, narrow, and complex pipes are inspected. The main objective of this study is to demonstrate the possibility of deflecting the traction wiring of a robot using a variable-diameter TRM and the possibility of increasing the inspection distance. Relevant studies include methods of attaching a braided sleeve or capsule to pulled wires and connecting multiple robots. However, these methods present some disadvantages, such as insufficient reduction in the traction load, TRM gets stuck in the piping, and insufficient space in the pipe. In this study, a prototype variable-diameter TRM is developed, its operation in a pipe is confirmed, and the push-in force is measured. It is shown that the variable-diameter TRM propagates in the piping and generates a pushing force of 40 N. Therefore, it is demonstrated that the traction load can be reduced by pushing.
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Naruse, Y., Takaya, K., Ito, F., Watanabe, J., Nakamura, T. (2023). Confirmation of Variable Diameter TRM Operation. In: Cascalho, J.M., Tokhi, M.O., Silva, M.F., Mendes, A., Goher, K., Funk, M. (eds) Robotics in Natural Settings. CLAWAR 2022. Lecture Notes in Networks and Systems, vol 530. Springer, Cham. https://doi.org/10.1007/978-3-031-15226-9_33
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DOI: https://doi.org/10.1007/978-3-031-15226-9_33
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