A Soft, Centimeter‐Scaled, Thin‐Cable‐Crawling Robot for Narrow Space Inspection

Abstract

Cables are critical in engineering structures for load‐bearing, electronic connection, and mechanical transmission. Various cable‐crawling robots (CCRs) have been developed to perform scheduled inspection or convey supplies. Most existing CCRs are often actuated by motors and used in large‐scaled engineering structures. The heavy bodies of these CCRs can cause damage or even casualties once slippage or drop occurs. A small and lightweight CCR that can crawl on thin cables is highly demanded for safety inspection in narrow and confined inner spaces of engineering structures. Herein, a soft CCR (weight, 2.1 g; length, 43 mm) is developed by utilizing multilayered dielectric elastomer actuators. Compared with existing solutions, this CCR achieves crawling on thin cables (diameter: <1 mm) while crawling fastest (horizontal: 0.72 body length per second). The CCR is also capable of transporting objects (horizontal: 3.69 times its own weight; vertical: 0.76 times its own weight), climbing upward on a vertical cable, and locomoting across the water–air interface. The CCR is also demonstrated to crawl on a slack cable and circular/spiral cables. Finally, the soft robot, equipped with an endoscope, demonstrates inspections on a tensegrity structure as well as in an airplane wing model with a preplaced cable.

Keywords

• artificial muscles
• cable‐crawling robots
• dielectric elastomer
• soft robots