The Proceedings of Mechanical Engineering Congress, Japan
Online ISSN : 2424-2667
ISSN-L : 2424-2667
2012
Session ID : G150051
Conference information
G150051 A Basic Study on Green Caterpillar type In-Pipe Mobile Robot using Suction Brakes : Characteristics of Somites Structured by Bellows Actuators and Suction Brakes
Daisuke KATSUMATAKazuhiro SATOMakoto SAKAMOTOMnabu ONO
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Abstract
Nowadays, pipes buried under a road supply houses with water and town gas. Pipes must be periodically inspected in order to prevent the accident caused by leakage of fluid in pipes. We have proposed inspecting pipes using by green caterpillar type in-pipe mobile robot. The robot imitate the prolegs and the waving motion of the green caterpillar. Now, we derive equilibrium of forces using by dynamics models of moving robot. As a result, we identity traction force of the robot.
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© 2012 The Japan Society of Mechanical Engineers
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