A micro snake-like robot for small pipe inspection

  title={A micro snake-like robot for small pipe inspection},
  author={Shuichi Wakimoto and Jun Nakajima and Masanori Tanaka and Takefumi Kanda and Koichi Suzumori and Shuichi Wmmoto and Jun Nakajim and Masanori Takata and Koichi Suzwori},
The goal of this research is development of a micro robot which can negotiate pipes whose diameter vanes widely. The robot mechanism is based on "Snaking Drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are… CONTINUE READING

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