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

Abstract

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.