电-气微型管道检测机器人的设计

ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465) Pub Date : 1999-07-12 DOI:10.1109/ISIE.1999.798746

C. Anthierens, A. Ciftci, M. Bétemps

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引用次数: 61

摘要

介绍了一种用于17mm管径管道内检测的微型机器人的设计和实现。其中很大一部分是对每个模块的建模和估计。为了提供优于15微米的位移测量精度，完成了霍尔效应传感器的建模。然后将整个机器人的建模和仿真结果与实现结果进行了比较。最后，讨论了气动执行器的性能，并对改进气动执行器的运动任务提出了展望。

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Design of an electro pneumatic micro robot for in-pipe inspection

The presentation of a micro robot for in-pipe inspection in 17 mm diameter pipes is detailed from the design to the implementation. A large part is dedicated to the modelling and estimation of each module. A completed modelling of a Hall effect sensor has been carried out in order to provide an accuracy of the displacement measurements better than 15 micrometers. Then the modelling and simulation of the whole robot have been compared to the implemented results. Finally, performances are discussed and perspectives are given to improve the locomotion task with the pneumatic actuator.

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ISIE '99. Proceedings of the IEEE International Symposium on Industrial Electronics (Cat. No.99TH8465)

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