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A Novel, Bio-Inspired, Soft Robot for Water Pipe Inspection


Abstract This thesis presents the design and testing of a soft robotic device for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes using pneumatic and without the need to adjust rigid, mechanical components. The robot utilizes inflatable soft actuators with an adjustable radius which, when pressurized, can provide a radial force, effectively anchoring the device in place. Additional soft inflatable actuators translate forces along the center axis of the device which creates forward locomotion when used in conjunction with the radial actuation. Furthermore, a bio-... (more)
Created Date 2019
Contributor Adams, Wade Silas (Author) / Aukes, Daniel (Advisor) / Sugar, Thomas (Committee member) / Zhang, Wenlong (Committee member) / Arizona State University (Publisher)
Subject Robotics / Mechanical engineering / Biomechanics / inchworm / pipeline inspection / Soft-Robotics
Type Masters Thesis
Extent 84 pages
Language English
Copyright
Note Masters Thesis Engineering 2019
Collaborating Institutions Graduate College / ASU Library
Additional Formats MODS / OAI Dublin Core / RIS


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Description Dissertation/Thesis