無線電磁爬管機器人

Untethered Electromagnetic Pipe Climbing Robot

蔡騏屹(Chi-Yi Tsai)

指導教授 ： 莊嘉揚

國立臺灣大學/工學院/機械工程學系/碩士(2022年)

https://doi.org/10.6342/NTU202202999

摘要

爬管機器人用於管道檢查和維修，多年來備受關注。然而，它們之中的大多數的驅動型態要不是有線，就是體積大且笨重。本研究展示了一種小型無線電磁爬管機器人，由電池供電的電磁執行器驅動，具有無線、體積小、重量輕、爬行速度快及可爬垂直管的優點。機器人可在直徑為 42 mm 的管道內爬行，最快水平速度為 96 mm/s，且也能在同樣管徑進行垂直爬行。機器人主體由 3D 列印分成前、尾部兩大部分組成，且這兩個部分附有六根具有延展性的的不鏽鋼所做成的剛毛，作為與管壁接觸時，提供非等向性摩擦力的機構，使機器人能夠有效地向前移動。

關鍵字

爬管機器人 ； 電磁 ； 無線化 ； 非等向性摩擦 ； 剛毛 ； 垂直爬管

並列摘要

Pipe climbing robots are helpful for pipe inspection and repair and have attracted much attention over the years. However, most of them were either tethered or bulky. In this thesis, we demonstrate a compact untethered pipe climbing robot, actuated by a battery-powered electromagnetic actuator, that has the advantage of being untethered, small in size, light-weighted, and fast crawling. The robot can climb within pipes with a diameter of 42 mm, positioned in a horizontal or an inclined orientation, with the fastest speed of 96 mm/s, and the robot can also climb vertically, pulling a relatively heavy load (battery). The robot body consists of two 3D-printed segments with two sets of tailored, flexible metal bristles attached to each segment, which provide anisotropic friction to allow the robot to move forward effectively and efficiently.

並列關鍵字

Pipe climbing robot ； Electromagnetic ； Untethered ； Anisotropic Friction ； Bristle ； Vertical Climb

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