3インチ冷却管内検査ロボットの牽引力に関する一考察(G15-2 ロボットシステム,G15 ロボティクス・メカトロニクス部門)
詳細
This paper describes a study of an in-pipe mobile robot. The robot is constructed by three bellows for the pneumatic actuators, friction rings and three electromagnetic valves. We modelled the force balance of the microrobot for study of generated traction force. The traction force depends on friction force by friction rings and shrinking force by bellows actuator. We simulated the traction force by the model.
