{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,4]],"date-time":"2026-08-04T19:37:35Z","timestamp":1785872255443,"version":"3.56.0"},"reference-count":41,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T00:00:00Z","timestamp":1709510400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In the pipeline industry, it is often necessary to monitor cracks and damage in pipelines, or need to clean the inside of the pipeline regularly, or collect adhesive on the inner wall of the pipe, but the pipe is too narrow and difficult for humans to enter, it is necessary to use a pipe machine to complete the work. In this paper, a newly designed screw-driven in-pipe inspection robot (IPIR) is proposed. Compared with common robots, this robot innovatively designs adapting mechanism. The robot can not only adapt to the change of the inner diameter size of the pipeline by using the bionic principle and the deformation characteristics of flexible components but also can pass smoothly in the horizontal\/oblique\/vertical pipelines and has a certain ability to cross obstacles. In addition, it can transmit images of the inner wall of the pipeline wirelessly for data analysis. Finally, through theoretical analysis and prototype construction, the performance of the robot is verified. The results show that the prototype robot can not only smoothly pass through the acrylic pipe with inner diameter of 120\u2013138 mm but also pass through boss with a height of 3 mm.<\/jats:p>","DOI":"10.1017\/s0263574724000316","type":"journal-article","created":{"date-parts":[[2024,3,4]],"date-time":"2024-03-04T09:04:18Z","timestamp":1709543058000},"page":"1297-1319","source":"Crossref","is-referenced-by-count":12,"title":["Design and motion mechanism analysis of screw-driven in-pipe inspection robot based on novel adapting mechanism"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0009-0006-2373-157X","authenticated-orcid":false,"given":"Jihua","family":"Yin","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xuemei","family":"Liu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Youqiang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yucheng","family":"Wang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2024,3,4]]},"reference":[{"key":"S0263574724000316_ref27","doi-asserted-by":"crossref","first-page":"419","DOI":"10.1016\/j.mechatronics.2013.03.004","article-title":"Characteristic analysis of a novel in-pipe driving robot","volume":"23","author":"Liu","year":"2013","journal-title":"Mechatronics"},{"key":"S0263574724000316_ref40","article-title":"In-pipe inspection robotic system for defect detection and identification using image processing","author":"Colvalkar","journal-title":"Mater. Today Proc."},{"key":"S0263574724000316_ref4","first-page":"1425","article-title":"A review on various types of in-pipe inspection robot","volume":"50","author":"Verma","year":"2022","journal-title":"Materials Today: Proceedings"},{"key":"S0263574724000316_ref38","doi-asserted-by":"crossref","first-page":"102913","DOI":"10.1016\/j.mechatronics.2022.102913","article-title":"Ultrasonic thickness measuring in-pipe robot for real-time non-destructive evaluation of polymeric spray linings in drinking water pipe infrastructure","volume":"88","author":"Wickramanayake","year":"2022","journal-title":"Mechatronics"},{"key":"S0263574724000316_ref37","doi-asserted-by":"crossref","first-page":"015004","DOI":"10.1088\/1361-665X\/aca456","article-title":"Neural network-based motion modeling and control of water-actuated soft robotic fish","volume":"32","author":"Chen","year":"2023","journal-title":"Smart Mater. Struct."},{"key":"S0263574724000316_ref8","doi-asserted-by":"crossref","first-page":"1361","DOI":"10.1017\/S0263574721001156","article-title":"Development of modularized in-pipe inspection robotic system: MRINSPECT VII+","volume":"40","author":"Jang","year":"2022","journal-title":"Robotica"},{"key":"S0263574724000316_ref21","unstructured":"[21] Yang, S. U. , Kim, H. M. , Suh, J. S. , Choi, Y. S. , Mun, H. M. , Park, C. M. , Moon, H. and Choi, H. R. , \u201cNovel Robot Mechanism Capable of 3D Differential Driving Inside Pipelines,\u201d IEEE\/RSJ International Conference on Intelligent Robots & Systems IEEE (2014)."},{"key":"S0263574724000316_ref26","doi-asserted-by":"crossref","first-page":"6191","DOI":"10.3390\/app12126191","article-title":"Adapting mechanisms for in-pipe inspection robots: A review","volume":"12","author":"Rusu","year":"2022","journal-title":"Appl. Sci."},{"key":"S0263574724000316_ref22","doi-asserted-by":"crossref","unstructured":"[22] Jeon, W. , Park, J. , Kim, I. , Kang, Y. K. and Yang, H. , \u201cDevelopment of High Mobility In-pipe Inspection Robot,\u201d 2011 IEEE\/SICE International Symposium on System Integration (SII) IEEE (2012).","DOI":"10.1109\/SII.2011.6147496"},{"key":"S0263574724000316_ref36","doi-asserted-by":"crossref","first-page":"113748","DOI":"10.1016\/j.oceaneng.2023.113748","article-title":"Swimming modeling and performance optimization of a fish-inspired underwater vehicle (FIUV)","volume":"271","author":"Chen","year":"2023","journal-title":"Ocean Eng."},{"key":"S0263574724000316_ref33","doi-asserted-by":"crossref","first-page":"17","DOI":"10.3390\/biomimetics6010017","article-title":"Pipeline inspection tests using a biomimetic robot","volume":"6","author":"Islas-Garc\u00eda","year":"2021","journal-title":"Biomimetics"},{"key":"S0263574724000316_ref6","doi-asserted-by":"crossref","DOI":"10.3390\/robotics6040036","article-title":"Advances in the inspection of unpiggable pipelines","volume":"6","author":"Gh. Mills","year":"2017","journal-title":"Robotics"},{"key":"S0263574724000316_ref17","doi-asserted-by":"crossref","unstructured":"[17] Gunatilake, A. , Lasitha, P. , Sarath, K. , Stephen, B. and Dammika, V. , \u201cReal-time 3D Profiling with RGB-D Mapping in Pipelines Using Stereo Camera Vision and Structured IR Laser Ring,\u201d 2019 14th IEEE Conference on Industrial Electronics and Applications (ICIEA) IEEE (2019).","DOI":"10.1109\/ICIEA.2019.8834089"},{"key":"S0263574724000316_ref12","doi-asserted-by":"crossref","unstructured":"[12] Choi, C. , Chatzigeorgiou, D. , Ben-Mansour, R. and Youcef-Toumi, K. , \u201cDesign and Analysis of Novel Friction Controlling Mechanism with Minimal Energy for In-pipe Robot Applications,\u201d IEEE International Conference on Robotics & Automation IEEE (2012) pp. 4118\u20134123.","DOI":"10.1109\/ICRA.2012.6225380"},{"key":"S0263574724000316_ref24","doi-asserted-by":"crossref","first-page":"5605","DOI":"10.1177\/09544062211061238","article-title":"Motion analysis of screw drive in-pipe cleaning robot","volume":"236","author":"Zhang","year":"2022","journal-title":"Proc. Inst. Mech. Eng. C J. Mech. Eng. Sci."},{"key":"S0263574724000316_ref11","doi-asserted-by":"crossref","unstructured":"[11] Zagler, A. and Pfeier, F. , \u201c\u201cMORITZ\u201d a Pipe Crawler for Tube Junctions,\u201d Proceedings - IEEE International Conference on Robotics and Automation 3 (2003).","DOI":"10.1109\/ROBOT.2003.1242044"},{"key":"S0263574724000316_ref31","doi-asserted-by":"crossref","unstructured":"[31] Nishimura, T. , Kakogawa, A. and Ma, S. , \u201cPathway Selection Mechanism of a Screw Drive In-pipe Robot in T-Branches,\u201d Automation Science and Engineering (CASE), 2012 IEEE International Conference on IEEE (2012).","DOI":"10.1109\/CoASE.2012.6386388"},{"key":"S0263574724000316_ref2","first-page":"53","article-title":"Realization of a service robot for cleaning spherical surfaces","volume":"2","author":"Zhang","year":"2008","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574724000316_ref15","doi-asserted-by":"crossref","first-page":"781","DOI":"10.1109\/TRO.2005.852258","article-title":"Dynamic characteristics of a novel self-drive pipeline pig","volume":"21","author":"Zheng","year":"2005","journal-title":"IEEE Trans. Robot."},{"key":"S0263574724000316_ref19","doi-asserted-by":"crossref","first-page":"2016","DOI":"10.3390\/sym12122016","article-title":"Cornering algorithm for a crawler in-pipe inspection robot","volume":"12","author":"Xu","year":"2020","journal-title":"Symmetry"},{"key":"S0263574724000316_ref7","doi-asserted-by":"crossref","first-page":"1478","DOI":"10.1017\/S0263574719001589","article-title":"Implementation of a reconfigurable robot to achieve multimodal locomotion based on three rules of configuration","volume":"38","author":"Zhou","year":"2020","journal-title":"Robotica"},{"key":"S0263574724000316_ref29","doi-asserted-by":"crossref","first-page":"920","DOI":"10.1017\/S0263574714000599","article-title":"A simple and novel helical drive in-pipe robot","volume":"33","author":"Chen","year":"2015","journal-title":"Robotica"},{"key":"S0263574724000316_ref34","doi-asserted-by":"crossref","first-page":"332","DOI":"10.1017\/S0263574723001443","article-title":"A compliant leg design combining pantograph structure with leaf springs","volume":"42","author":"Wang","year":"2024","journal-title":"Robotica"},{"key":"S0263574724000316_ref13","first-page":"407","article-title":"Development of soft inchworm robot with friction control of feet using double-network gel","volume":"37","author":"Selvamuthu","year":"2023","journal-title":"Adv. Robot. Int. J. Robot. Soc. Jpn."},{"key":"S0263574724000316_ref1","doi-asserted-by":"crossref","unstructured":"[1] Li, P. , Ma, S. , Li, B. and Wang, Y. , \u201cDevelopment of an Adaptive Mobile Robot for In-pipe Inspection Task,\u201d 2007 International Conference on Mechatronics and Automation, 8 (2007).","DOI":"10.1109\/ICMA.2007.4304148"},{"key":"S0263574724000316_ref3","doi-asserted-by":"crossref","first-page":"1456","DOI":"10.1016\/j.proeng.2012.07.335","article-title":"A review: Hybrid locomotion of in-pipe inspection robot","volume":"41","author":"Roslin","year":"2012","journal-title":"Proc. Eng."},{"key":"S0263574724000316_ref39","doi-asserted-by":"crossref","first-page":"109111","DOI":"10.1016\/j.buildenv.2022.109111","article-title":"Automatic fault diagnosis algorithm for hot water pipes based on infrared thermal images","volume":"218","author":"Guan","year":"2022","journal-title":"Build. Environ."},{"key":"S0263574724000316_ref5","doi-asserted-by":"crossref","first-page":"107206","DOI":"10.1016\/j.oceaneng.2020.107206","article-title":"Modeling of the in-pipe inspection robot: A comprehensive review","volume":"203","author":"Rashid","year":"2020","journal-title":"Ocean Eng."},{"key":"S0263574724000316_ref14","doi-asserted-by":"crossref","first-page":"74","DOI":"10.3390\/robotics10020074","article-title":"Design of PEIS: A low-cost pipe inspector robot","volume":"10","author":"Salvatore","year":"2021","journal-title":"Robotics"},{"key":"S0263574724000316_ref28","doi-asserted-by":"crossref","first-page":"240","DOI":"10.3390\/act12060240","article-title":"Design and kinematic characteristic analysis of a spiral robot for oil and gas pipeline inspections","volume":"12","author":"Yan","year":"2023","journal-title":"Actuators"},{"key":"S0263574724000316_ref16","doi-asserted-by":"crossref","first-page":"114260","DOI":"10.1016\/j.oceaneng.2023.114260","article-title":"A comprehensive review of in-pipe robots","volume":"277","author":"Kahnamouei","year":"2023","journal-title":"Ocean Eng."},{"key":"S0263574724000316_ref9","article-title":"A flat pipeline inspection robot with two-wheel chains","author":"Kwon","journal-title":"2011 IEEE International Conference on Robotics and Automation, Shanghai International Conference Center"},{"key":"S0263574724000316_ref25","doi-asserted-by":"crossref","first-page":"253","DOI":"10.1163\/156855311X614554","article-title":"Stiffness design of springs for a screw drive in-pipe robot to pass through curved pipes and vertical straight pipes","volume":"26","author":"Kakogawa","year":"2012","journal-title":"Adv. Robotics"},{"key":"S0263574724000316_ref41","doi-asserted-by":"crossref","first-page":"4760","DOI":"10.3390\/s19214760","article-title":"A preliminary experimental analysis of in-pipe image transmission based on visible light relay communication","volume":"19","author":"Zhao","year":"2019","journal-title":"Sensors (Basel, Switzerland)."},{"key":"S0263574724000316_ref30","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40638-016-0045-z","article-title":"Energy-efficient control of a screw-drive pipe robot with consideration of actuator\u2019s characteristics","volume":"3","author":"Li","year":"2016","journal-title":"Robot. Biomim."},{"key":"S0263574724000316_ref35","doi-asserted-by":"crossref","first-page":"3446","DOI":"10.1017\/S0263574723001108","article-title":"Porcospino, spined single-track mobile robot for inspection of narrow spaces","volume":"41","author":"Shahab","year":"2023","journal-title":"Robotica"},{"key":"S0263574724000316_ref20","volume-title":"Robotics and Biomimetics IEEE","author":"Yin","year":"2017"},{"key":"S0263574724000316_ref18","doi-asserted-by":"crossref","unstructured":"[18] Ou, C. W. , Chao, C. J. , Chang, F. S. , Wang, S. M. , Lee, J. N. , Hung, R. D. , Chiu, B. , Cho, K. Y. and Hwang, L. T. , \u201cDesign of an Adjustable Pipeline Inspection Robot with Three Belt Driven Mechanical Modules,\u201d 2017 IEEE International Conference on Mechatronics and Automation (ICMA) IEEE (2017).","DOI":"10.1109\/ICMA.2017.8016123"},{"key":"S0263574724000316_ref32","doi-asserted-by":"crossref","unstructured":"[32] Kakogawa, A. and Ma, S. , \u201cMobility of an In-pipe Robot with Screw Drive Mechanism Inside Curved Pipes,\u201d IEEE International Conference on Robotics & Biomimetics IEEE (2010).","DOI":"10.1109\/ROBIO.2010.5723557"},{"key":"S0263574724000316_ref23","doi-asserted-by":"crossref","first-page":"168781402110451","DOI":"10.1177\/16878140211045193","article-title":"Design of a novel inchworm in-pipe robot based on cam-linkage mechanism","volume":"13","author":"Xie","year":"2021","journal-title":"Adv. Mech. Eng."},{"key":"S0263574724000316_ref10","doi-asserted-by":"crossref","first-page":"3637","DOI":"10.3390\/app10103637","article-title":"Design and analysis of independently adjustable large in-pipe robot for long-distance pipeline","volume":"10","author":"Zhao","year":"2020","journal-title":"Appl. Sci."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574724000316","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,11,13]],"date-time":"2024-11-13T19:16:27Z","timestamp":1731525387000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574724000316\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,3,4]]},"references-count":41,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["S0263574724000316"],"URL":"https:\/\/doi.org\/10.1017\/s0263574724000316","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,3,4]]}}}