Title :
In-pipe inch-worm pneumatic flexible robot
Author :
Bertetto, A. Manuello ; Ruggiu, M.
Author_Institution :
Dipartimento di Ingegneria Meccanica, Cagliari Univ., Italy
Abstract :
A pneumatic flexible robot prototype for pipes inspection was built. A dynamic model which takes into account the flexibility, damping and friction was developed. Numerous experiments were carried out in order to characterize the robot and in order to provide the input for the numerical model. The model was validated by comparing the experimental and numerical robot gait in time. The robot motion for different pipes network geometry is presented
Keywords :
damping; friction; inspection; mobile robots; navigation; position control; robot dynamics; robot kinematics; damping; dynamic model; friction; kinematics; navigation; pipes inspection; pneumatic flexible robot; position control; Actuators; Aerodynamics; Bladder; Computational geometry; Endoscopes; Friction; Inspection; Numerical models; Prototypes; Robot sensing systems;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936886
