Abstract
We developed an earthworm-type 15A pipe inspection robot with pneumatic artificial muscles (PAMs). The movement of the robot is performed by a drive unit that repeatedly expands and contracts the muscle. Pressurized air is supplied to the muscle via an air tube. The robot is required to change the specifications of the tube in accordance with the distance of inspection. When the specifications change, the responses of air transmission and the drive unit also change. To date, the optimum operating condition of the drive unit has been obtained experimentally, but this is an extremely time-consuming problem. Thus, we derive a dynamic characteristic model of the PAMs that considers the length of the air tube. Then, the usefulness of the model is confirmed by comparing its results to experimental values of the artificial muscle.
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Yamazaki, S., Kishi, T., Nakamura, T. (2015). Dynamic Characteristic Model for Pneumatic Artificial Muscles Considering Length of Air Tube. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_36
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DOI: https://doi.org/10.1007/978-3-319-22879-2_36
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