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Novel Robotic Tools for Piping Inspection and Repair
Final rept. 1 Jan-31 Dec 2014
ELECTROMECHANICA INC MATTAPOISETT MA
Pagination or Media Count:
Electromechanica, Inc. designed, fabricated and evaluated a proof of concept robotic tool for in situ inspection and remediation of fleet piping. The robotic tool is based on pneumatically actuated peristaltic motion. This in-pipe motion is accomplished by the use of inflatable pneumatic annular grippers in concert with a novel flexible pneumatic linear actuator capable. This linear actuator is capable of actuation while bent to conform to the contours of a piping system. The flexible linear actuator allows the robot to move through bends that would otherwise be inaccessible with conventional rigid actuators. The robot was designed and demonstrated to negotiate a nominal 3 in. 76 mm ID pipe.
APPROVED FOR PUBLIC RELEASE