Antislip Anchoring Mechanism for Peristaltic Pipe Inspection Robots Traveling in Low-Friction Environments

An anchoring mechanism was designed for an earthworm-type robot that can inspect without slipping in sewage or oil pipes. A conventional robot moves through pipes making use of the friction between its surface and the inner surfaces of the pipes. It is difficult for the robot to inspect in pipes where viscous liquid remains. Therefore, a mechanism for inspecting in slippery pipes was developed. A mixture of rubber dough and antislip material was used to produce enhanced frictional force. Three types of antislip were compered based on measurements of the coefficient of friction. The highest frictional coefficient was generated by the material mixed with the largest blast material. The developed anchoring mechanism applying the material increased the frictional coefficient by 3.59 times compared with conventional anchoring mechanisms. These results provide innovative insights into the development of inspection robots in challenging environments, such as those in which anchoring is difficult.