Non-assembly Walking Mechanism for Robotic In-Pipe Inspection

Conference paper (2022)

Authors

George H. Jackson-Mills University of Leeds
Basil A. Shead University of Leeds
James R. Collett University of Leeds
Masego Mphake University of Leeds
Nicholas Fry University of Leeds
Andrew R. Barber University of Leeds
J.H. Boyle University of Leeds
Robert C. Richardson University of Leeds
Andrew E. Jackson University of Leeds
Shaun Whitehead University of Leeds
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Published Date

2022

Language

English

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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.