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JRM Vol.14 No.4 pp. 400-407
doi: 10.20965/jrm.2002.p0400
(2002)

Paper:

Low Cost Pipe-crawling Pneumatic Robot

Andrea Manuello Bertetto and Maurizio Ruggiu

Dipartimento di Ingegneria Meccanica Piazza D'Armi, 1 - 09123 Cagliari University of Cagliari, Italy

Received:
April 16, 2002
Accepted:
April 22, 2002
Published:
August 20, 2002
Keywords:
semi-autonomous robot, snake-like robot, inch-worm locomotion, flexible robots, pneumatics
Abstract

A pipes inspection robot prototype was built and a mathematical modeling of its dynamics was developed. In order to pass over complicated pipeline networks, the robot was constructed with a flexible rubber structure moved by pneumatics power The robot locomotion was inspired by the inch-worm gait kinematics. Because of significant acceleration values revealed during the robot gait, the robot dynamics was mathematically formulated either by a single degree of freedom model or by the assumed mode summation method. A set of experiments were conducted for obtaining all the parameters required for models formulation. Finally the models were validated by comparing the numerical and experimental robot gait with time.

Cite this article as:
Andrea Manuello Bertetto and Maurizio Ruggiu, “Low Cost Pipe-crawling Pneumatic Robot,” J. Robot. Mechatron., Vol.14, No.4, pp. 400-407, 2002.
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