Jackson-Mills, GH, Shead, BA, Collett, JR et al. (7 more authors) (2021) Non-assembly Walking Mechanism for Robotic In-Pipe Inspection. In: Lecture Notes in Networks and Systems. CLAWAR 2021, 30 Aug - 01 Sep 2021, Virtual. Springer Verlag , pp. 117-128. ISBN 9783030862930
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’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.
Metadata
Authors/Creators: |
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Copyright, Publisher and Additional Information: | © The Author(s), under exclusive license to Springer Nature Switzerland AG 2022. This is an author produced version of a conference paper published in Lecture Notes in Networks and Systems. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Robot; 3D Printing; Walking; In-pipe |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Mechanical Engineering (Leeds) > Institute of Engineering Systems and Design (iESD) (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 12 Oct 2021 14:29 |
Last Modified: | 04 Sep 2022 00:13 |
Status: | Published |
Publisher: | Springer Verlag |
Identification Number: | https://doi.org/10.1007/978-3-030-86294-7_11 |