Design and Motion Simulation of a Soft Robot for Crawling in Pipes

In recent years, soft pipeline robot, as a new concept, is proposed to adapt tunnel. The robots are made of materials such rubber or silicone. These have good elasticity, which enhance the adaptability robot. Therefore, robot has better performance on deformability than rigid However, structure tunnel complex and varied that brought challenges design this paper, we propose with simple easy fabrication, can be realized straight, turning motion in variety tunnels different diameters. composed two types structure, expansion part deformation part. Front rear for bending position fixation, middle elongation, so moved various structures tunnels. Moreover, locomotion ability verified by simulating software. chamber paper guide method