Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot inspired by the ovipositor of parasitic wasps to navigate and inspect pipelines. The robot features a flexible locomotion system that adapts to different tube sizes and shapes through a mechanical inflation technique. The flexible locomotion system employs a reciprocating motion, in which groups of three sliders extend and retract in a cyclic fashion. In a proof-of-principle experiment, the robot locomotion efficiency demonstrated positive linear correlation (r=0.6434) with the diameter ratio (ratio of robot diameter to tube diameter). The robot showcased a remarkable ability to traverse tubes of different sizes, shapes and payloads with an average of (70%) locomotion efficiency across all testing conditions, at varying diameter ratios (0.7-1.5). Furthermore, the mechanical inflation mechanism displayed substantial load-carrying capacity, producing considerable holding force of (13 N), equivalent to carrying a payload of approximately (5.8 Kg) inclusive the robot weight. This novel soft robotic system shows promise for inspection and navigation within tubular confined spaces, particularly in scenarios requiring adaptability to different tube shapes, sizes, and load-carrying capacities. This novel design serves as a foundation for a new class of pipeline inspection robots that exhibit versatility across various pipeline environments, potentially including biological systems.

翻译：管道作为流体输送的关键设施，其检测任务既重要又具有挑战性，尤其是在小型柔性生物系统中，机器人尚未能掌握这一技术。本研究探索了一种受寄生蜂产卵器启发的创新机器人，用于管道导航与检测。该机器人采用机械充气技术，配备柔性运动系统以适应不同尺寸和形状的管道。柔性运动系统采用往复运动模式，三组滑块以循环方式交替伸缩。在原理验证实验中，机器人运动效率与直径比（机器人直径与管道直径之比）呈现显著正线性相关（r=0.6434）。该机器人在不同尺寸、形状及负载的管道中展现出卓越的穿越能力，在0.7-1.5的变直径比条件下，平均运动效率达70%。此外，机械充气机制具备显著承载能力，可产生13N的保持力，等效于承载含机器人自重约5.8kg的负载。这种新型软体机器人系统在管状受限空间检测与导航中展现出应用潜力，尤其适用于需适应不同管道形状、尺寸及负载能力的场景。该创新设计为新一代多适应性管道检测机器人奠定基础，其应用范围可延伸至生物系统等领域。