In complex systems like aircraft engines and oil refinery machines, pipeline inspection is an essential task for ensuring safety. Here, we proposed a type of smart material–driven pipeline inspection robot (weight, 2.2 grams; length, 47 millimeters; diameter, <10 millimeters) that could fit into pipes with sub-centimeter diameters and different curvatures. We adopted high–power density, long-life dielectric elastomer actuators as artificial muscles and smart composite microstructure–based, high-efficiency anchoring units as transmissions. Fast assembling of components using magnets with an adjustable number of units was used to fit varying pipeline geometries. We analyzed the dynamic characteristics of the robots by considering soft material’s unique properties like viscoelasticity and dynamic vibrations and tuned the activation voltage’s frequency and phase accordingly. Powered by tethered cables from outside the pipe, our peristaltic pipeline robot achieved rapid motions horizontally and vertically (horizontal: 1.19 body lengths per second, vertical: 1.08 body lengths per second) in a subcentimeter-sized pipe (diameter, 9.8 millimeters). Besides, it was capable of moving in pipes with varying geometries (diameter-changing pipe, L-shaped pipe, S-shaped pipe, or spiral-shaped pipe), filled media (air or oil), and materials (glass, metal, or carbon fiber). To demonstrate its capability for pipeline inspection, we installed a miniature camera on its front and controlled the robot manually from outside. The robot successfully finished an inspection task at different speeds.

中文翻译：

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用于在亚厘米级管状环境中导航的管道检测机器人

在飞机发动机和炼油机等复杂系统中，管道检查是确保安全的一项重要任务。在这里，我们提出了一种智能材料驱动的管道检测机器人（重量，2.2 克；长度，47 毫米；直径，<10 毫米），它可以安装在直径为亚厘米和不同曲率的管道中。我们采用高功率密度、长寿命介电弹性体致动器作为人造肌肉和基于智能复合微结构的高效锚固单元作为传动装置。使用具有可调节单元数的磁铁快速组装组件，以适应不同的管道几何形状。我们通过考虑软材料的独特特性（如粘弹性和动态振动）来分析机器人的动态特性，并相应地调整激活电压的频率和相位。我们的蠕动管道机器人由管道外部的系缆提供动力，在亚厘米大小的管道（直径，9.8 毫米）中实现了水平和垂直快速运动（水平：每秒 1.19 身长，垂直：每秒 1.08 身长）。此外，它能够在不同几何形状的管道（变径管、L形管、S形管或螺旋形管）、填充介质（空气或油）和材料（玻璃、金属、或碳纤维）。为了展示其管道检测能力，我们在其正面安装了一个微型摄像头，并从外部手动控制机器人。