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Design of a Pipe Inspection and Remediation Soft Robot

Adomas Mazeika, Daniel Gubser, and Simon Baker

Advisors: David Myszka, Ph.D & Andrew Murray, Ph.D

Department of Mechanical & Aerospace Engineering

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Abstract: Soft robotics is a rapidly evolving field that is advancing the development of surgical devices, prosthetics, and robotic gripper systems. In this work, we explore the design of a soft robot capable of crawling along pipes for inspection and remediation purposes. A common challenge in the rehabilitation of older buildings is the inspection and clearing of existing sewer lines for potential reuse. Frequently, blockages prevent these pipes from being returned to service. When such obstructions are present, the typical solution often involves demolition and reconstruction of floors, walls, and plumbing. A device that could navigate old pipes—capable of turning corners, adjusting to varying diameters, and performing tasks within the pipe—would be extremely valuable. This work presents the modeling, rapid prototyping, assembly, and testing of several key components of the pipe-crawling soft robotic system.

3 Channel Pipe-Crawler Design

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3 Channel Connectionless Design

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5 Channel Connectionless Design

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Why Soft Robots?

  • Naturally compliant, “safe interaction with humans, manipulating and grasping fragile objects” [1],
  • Cost-effective due to rapid prototyping of parts and COTS components,
  • High flexibility results in capacity to solve new problems not typical of traditional robotics,
  • Large number of actuation solutions available.

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Applications in Various Industries

    • Health care: exosuits, artificial organs,
    • Space exploration: biologically-inspired actuators,
    • Automation: product manufacturing & assembly,
    • Inspection: hard-to-access locations.

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Why Soft Robots?

  • Flexible and elastic materials enable bending, twisting, and stretching,
  • Similarities to biological organisms.

FEA

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Experimentation

  • Quality air pressure control is the foundation for all soft robot projects.
  • Multi-channel closed loop pressure control.
  • Used compressed air as pressure source.

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References

[1] G. Alici, “Softer is harder: What differentiates soft robotics from hard robotics?,” MRS

Advances, vol. 3, no. 28, pp. 1557–1568, 2018.

[2] Burrows, L. (2018). Soft robots that can sense touch, pressure, movement and temperature. Robohub. https://robohub.org/soft-robots-that-can-sense-touch-pressure-movement-and-temperature/

[3] Kelly, C. (2019). How to Teach Soft Robot Navigation. Asme.org. https://www.asme.org/topics-resources/content/to-teach-soft-robot-navigation

[4] Rao, R. (2023). Powering Soft Robotics: A Deeper Look at Soft Robotics Actuators. Wevolver. https://www.wevolver.com/article/powering-soft-robotics-a-deeper-look-at-soft-robotics-actuators

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Figure 3: (a.) 5 Channel Single Part Design

(b.) Airway Section View

Figure 5: (a.) Control Electronics, (b.) Prototype pressurized to 5psi, (c.) Prototype pressurized to 7psi.

(A) Festo’s Bionic Handling Assistant is combined from several pneumatically actuated bellows [1]. (B) Harvard researchers have developed soft robots that can sense touch, pressure, movement and temperature [2]. (C) NASA studied soft robots exploring the idea that they could form temporary shelters on other planets. [3]. (D) Soft robotic finger from UC San Diego.

Figure 2: (a.) 3 Channel 3 Part Design

(b.) Section View

Figure 4: Displacement of a single pneumatic actuator bubble simulated with an internal pressure of 5 psi

Figure 3: (a.) 3 Channel Single Part Design

(b.) Section View

Solenoid Valve

Arduino Uno

Pressure Sensor

Flow Regulator Valve

Pressure Control Valve

Power Supply