关键词：检验;管道;机器人;计算机程序;发动机气缸
摘 要：Electromechanica Inc. was tasked with researching and developing a proof of concept robot tool for in-situ pipe inspection of fleet piping. Electromechanica has designed and fabricated a proof of concept robot tool based on a pneumatically actuated peristaltic motion. This motion is accomplished by the use of inflatable pneumatic grippers, as well as a novel flexible pneumatic cylinder capable of actuation in a variety of articulated positions. Various representative piping systems were used to successfully test locomotion and guidance of the system.