Chapter 43 Analytical Model of Pipe Inspection Robot Using Flexible Pneumatic Cylinder

摘要

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.