Variable Structure Adaptive Soft Robot for Complex Pipeline Environments

ABSTRACT At present, most pipeline robots can only work on a specific type of pipeline. However, the types of pipelines are always changing, which makes it difficult to meet diversified needs. Thus, a variable structure adaptive soft robot (VSASR) is proposed in this paper. The VSASR is driven by a coupled flexible actuator consisting of a flexible cantilever and a flexible track. The VSASR can change the driver structure according to different pipeline environments to adapt to a variety of complex pipeline environments. The VSASR has strong flexibility and adaptability; it can climb on the inner and outer walls of pipelines by changing the driver structure and has excellent performance in many kinds of unstructured complex pipes that may contain obstacles, sudden turns, and sudden changes in the diameter. Furthermore, The VSASR provide a feasible scheme for pipeline robots when they face various and complex pipeline environments.