Title :
Design of an electro pneumatic micro robot for in-pipe inspection
Author :
Anthierens, Cedric ; Ciftci, Antoine ; Betemps, Maurice
Author_Institution :
Lab. d´´Autom. Ind., INSA of Lyon, Villeurbanne, France
Abstract :
The presentation of a micro robot for in-pipe inspection in 17 mm diameter pipes is detailed from the design to the implementation. A large part is dedicated to the modelling and estimation of each module. A completed modelling of a Hall effect sensor has been carried out in order to provide an accuracy of the displacement measurements better than 15 micrometers. Then the modelling and simulation of the whole robot have been compared to the implemented results. Finally, performances are discussed and perspectives are given to improve the locomotion task with the pneumatic actuator
Keywords :
Hall effect devices; actuators; displacement measurement; electropneumatic control equipment; inspection; microrobots; position control; 17 mm; Hall effect sensor; displacement measurements; electro pneumatic micro robot; in-pipe inspection; locomotion task; module estimation; module modelling; pneumatic actuator; position control; Actuators; Bellows; Displacement measurement; Inspection; Intelligent sensors; Leg; Magnetic materials; Nuclear power generation; Robot sensing systems; Service robots;
Conference_Titel :
Industrial Electronics, 1999. ISIE '99. Proceedings of the IEEE International Symposium on
Conference_Location :
Bled
Print_ISBN :
0-7803-5662-4
DOI :
10.1109/ISIE.1999.798746
