DocumentCode
3288462
Title
In-pipe inch-worm pneumatic flexible robot
Author
Bertetto, A. Manuello ; Ruggiu, M.
Author_Institution
Dipartimento di Ingegneria Meccanica, Cagliari Univ., Italy
Volume
2
fYear
2001
fDate
2001
Firstpage
1226
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936886
Filename
936886
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