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
Item Type: | Proceedings Paper |
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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: | 10.1007/978-3-030-86294-7_11 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:179085 |