Abstract
There is a pipe called duct in several buildings, which is used to transport air. At present a duct which has small size and many bending parts cannot be cleaned. Therefore, the authors have developed a robot imitating movement of a peristaltic crawling of an earthworm for cleaning the duct. First the robot must be able to travel in the duct. Then the authors made a prototype of the peristaltic crawling robot for traveling in the duct. In the result of a traveling experiment in a horizontal pipe, the traveling speed was less than a calculating speed because the units composing the robot was not able to hold the duct properly. In this paper, the authors adjusted a flow rate of air supplied in the unit by improvement in PWM control using a direct acting solenoid valve to solve this problem. Then, we measured the traveling speed of 15 mm/s and confirmed the improvement in the traveling speed in the result of a traveling experiment in a horizontal pipe. In addition, we measured the traveling speed of 13 mm/s and confirmed usefulness of the improvement in PWM control.
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