Article
Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs
Author/s | García Rubiales, Francisco Javier
Ramón Soria, Pablo Arrue Ullés, Begoña C. Ollero Baturone, Aníbal |
Department | Universidad de Sevilla. Departamento de Ingeniería de Sistemas y Automática |
Publication Date | 2021-06 |
Deposit Date | 2022-09-20 |
Published in |
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Abstract | This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an
unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow
the aerial robot to perch and ... This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments. The objective was to allow the aerial robot to perch and crawl along the pipe, minimizing the energy consumption, and allowing to perform contact inspection. This paper introduces the design of the soft limbs of the gripper and also the internal mechanism that allows movement along pipes. Several tests have been carried out to ensure the grasping capability on the pipe and the performance and reliability of the developed system. This paper shows the complete development of the system using additive manufacturing techniques and includes the results of experiments performed in realistic environments. |
Funding agencies | European Union (UE) |
Project ID. | SI-1762/23/2017 |
Citation | García Rubiales, F.J., Ramón Soria, P., Arrue Ullés, B.C. y Ollero Baturone, A. (2021). Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs. Sensors, 21 (12), 4142. |
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Soft-Tentacle Gripper for Pipe ... | 1.864Mb | [PDF] | View/ | |