Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 27, 2020 - May 30, 2020
In recent years, the need for piping inspection has been increasing for various deteriorated infrastructures. Various piping inspection robots have been studied and developed by several research and educational institutes and companies so far. Also, in last year’s fabricated prototype model, we developed a piping inspection robot that can pass 100 [mm] in diameter. In this study, we derived and examined the control formula for running the prototype manufactured by last year's research through a branch pipe. As a learning method, we performed a motion experiment on a plane using a partial prototype and a motion simulation using the dynamic simulation software V-REP.
