Analytical model of pipe inspection robot using flexible pneumatic cylinder

Haojun Qiu, Shujiro Dohta, Tetsuya Akagi, So Shimooka, Shinsaku Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A pipe inspection robot is useful to reduce the inspection cost. In our previous study, a novel pipe inspection robot using a flexible pneumatic cylinder that can be driven even if it bends has been proposed and tested. The built-in pneumatic driving system using a tiny embedded controller and small-sized valves have also been proposed and tested to decrease the mass of the robot for increasing inspection area. In this chapter, in order to find out the optimal driving pattern and length of the robot, an analytical model of the pipe inspection robot is proposed. The model consists of two on/off control valves and a sliding mechanism which is composed of a flexible pneumatic cylinder.

Original languageEnglish
Title of host publicationProceedings of the 3rd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2014
EditorsJengnan Juang
PublisherSpringer Verlag
Pages325-334
Number of pages10
ISBN (Print)9783319173139
DOIs
Publication statusPublished - 2016
Event3rd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2014 - Kaohsiung, Taiwan, Province of China
Duration: Dec 19 2014Dec 21 2014

Publication series

NameLecture Notes in Electrical Engineering
Volume345
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

Conference

Conference3rd International Conference on Intelligent Technologies and Engineering Systems, ICITES 2014
Country/TerritoryTaiwan, Province of China
CityKaohsiung
Period12/19/1412/21/14

Keywords

  • Analytical model
  • Flexible pneumatic cylinder
  • Pipe inspection robot

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering

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