Design of a reconfigurable indoor pipeline inspection robot
- Title
- Design of a reconfigurable indoor pipeline inspection robot
- Author
- 이병주
- Keywords
- Pipeline inspection robot system; Reconfigurable
- Issue Date
- 2007-10
- Publisher
- IEEE
- Citation
- 2007 International Conference on Control, Automation and Systems, Page. 712-716
- Abstract
- Recently, many pipeline inspection robot systems have been developed. We develop a reconfigurable robot that can be used for 80-100mm pipeline. First of all, we derive the kinematics of this mechanism and determine the actuator size by static analysis. The mechanism consists of three pairs of caterpillar, each of which is operated by a micro DC motor. The robot is designed foldable when each chain contacts the wall of pipelines. Thus, the robot can be operated in various sizes of pipeline. Controlling the speed of caterpillar independently provides a steering capability. So it can go through elbow and T-branch. The robot system has been developed and the validity of this mechanism was proved by experimentation.
- URI
- https://ieeexplore.ieee.org/document/4406991https://repository.hanyang.ac.kr/handle/20.500.11754/107056
- ISBN
- 978-89-950038-6-2
- DOI
- 10.1109/ICCAS.2007.4406991
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML