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：管道作为流体运输的关键基础设施，其检测任务重要且具挑战性，尤其是在微小柔性的生物系统中，机器人技术尚未完全掌握。本研究受寄生蜂产卵器启发，开发了一种用于管道导航与检测的创新机器人。该机器人采用柔性运动系统，通过机械充气技术适应不同管径与形状，其运动机制基于三组滑块的循环伸缩往复运动。原理验证实验表明，机器人运动效率与管径比（机器人直径/管道直径）呈显著正线性相关（r=0.6434）。在0.7-1.5的管径比范围内，机器人展现出优异的跨尺寸、跨形状及变载荷通过能力，平均运动效率达70%。此外，机械充气机构具有显著负载能力，可产生13N的保持力，相当于承载约5.8kg（含自重）的载荷。该新型软体机器人在管状受限空间的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、尺寸及承载能力的场景。这一创新设计为适应多样化管道环境（包括生物系统）的新型管道检测机器人奠定了基础。