History of Robotics Research and Development of Japan1999LocomotionDevelopment of Micro Inspection Robot for Small Piping

Toyomi MiyagawaToshiba Co.
Koichi SuzumoriToshiba Co.
Masanobu KimuraToshiba Co.
Yukihisa HasegawaToshiba Co.
A micro inspection robot for 1 inch pipes was developed. The robot can undertake visual inspection inside piping and collect small objects. It is 110mm long, has an external diameter of 23 mm, and weighs 16 g. The robot is equipped with a high-quality micro CCD camera and a two-digit hand for manipulating small objects in pipes. It is propelled by a micro electromagnetic motor. The wheel are driven by planetary reduction gears and worm gears, press against the pipe wall and enable the robot travels inside even in vertical pipes and curved pipes. It travels at a speed of about 6 mm/s and the pulling force exerted is approximately 1 N. In this report, the robot system, the various micro technologies used in the development of this robot, including the micro actuator, micro reduction gears, micro robotics hands, micro CCD camera and specifications of the robot are presented. 14th RSJ Best Paper Award in 2000.


Correspondence papers

Toyomi Miyagawa, Koichi Suzumori, Masanobu Kimura, and Yukihisa Hasegawa:Development of Micro Inspection Robot for Small Piping

Journal of the Robotics Society of Japan, Vol. 17, No. 3, pp. 389-395,1999 (in Japanese).

Related papers

[1] Kohei Hori, Toyomi Miyagawa, and Kenichi Ito: Development of Ultra-Sma11 Sized Servo Actuator with Brushless DC Motor, Planetary Gear Drive and Optical Rotary Encoder, International journal of the. Japan Society of for Precision Engineering, Vol.31, No.1, pp.1-5, 1997.

[2] K.Suzumori,T.Miyagawa,M.Kimura, and Y.Hasegawa: Micro Inspection Robot for 1-in Pipes,IEEE/ASME Transactions on mechatronics,Vol.4,No.3,pp.286-292,1999.

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