Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

Soft-Tentacle Gripper for Pipe Crawling to Inspect Industrial Facilities Using UAVs

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This paper presents a crawling mechanism using a soft-tentacle gripper integrated into an unmanned aerial vehicle for pipe inspection in industrial environments.The objective was to allow the aerial robot to perch and crawl along the pipe, minimizing the energy consumption, and allowing to perform contact inspection.This paper introduces Physical Inactivity, Non-Communicable Diseases and National Fitness Plan of China for Physical Activity the design of the soft limbs of the gripper and also the internal mechanism that allows movement along pipes.Several tests have been carried out to ensure the grasping capability on the pipe and the performance and reliability Epidemiological Aspects and Differential Diagnosis of the Cutaneous Round Cell Tumors in Dogs of the developed system.This paper shows the complete development of the system using additive manufacturing techniques and includes the results of experiments performed in realistic environments.