Chimney Sweeping Robot Based on a Pneumatic Actuator
Source abstract
Abstract
The need of improving the quality of professions led to the idea of simplification of processes during chimney sweeping. These processes have been essentially the same for tens of years. The goal of this paper is to bring an automation element into the chimney sweeping process, making the job easier for the chimney sweeper. In this paper, an essentially in-pipe robot is presented, which uses brushes to move while simultaneously cleaning the chimney or pipeline. The problem of the robot motion was reduced using an in-pipe robot due to the environments and obstacles that the robot has to face. An approach of using a pneumatic actuator for motion is presented along with the mechanical design. The next part of this paper is focused on the mathematical model of the robot motion, as well as its simulation and testing in the experimental pipeline. The simulations were compared with the experimental measurements and a few analyses were conducted describing the simulation model and its differences with the real robot, as well as considering certain parameters and their impact on the performance of the robot. The results are discussed at the end of the paper.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Innovations in Concrete and Construction Materials · Robot Manipulation and Learning
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, 04200 Košice, Slovakia
Faculty of Mechanical Engineering, VSB-Technical University of Ostrava, 708 00 Ostrava, Czech Republic
Funding
Vedecká Grantová Agentúra MŠVVaŠ SR a SAV · Ministerstvo Školství, Mládeže a Tělovýchovy
References (27)
Show source-provided references
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