Repository at Hanyang UniversityCOLLEGE OF ENGINEERING SCIENCES[E](공학대학)ELECTRICAL ENGINEERING(전자공학부)Articles
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A pipeline inspection robot with a linkage type mechanical clutch
- Title
- A pipeline inspection robot with a linkage type mechanical clutch
- Author
- 이병주
- Keywords
- Robot applications; Kinematic model; Robot system; Pipelines; Linkage mechanism; Proto type; Kinematics; Inspection; Pipeline inspection; Clutches; Intelligent robots
- Issue Date
- 2010-10
- Publisher
- IEEE
- Citation
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, article no. 5652391, Page. 2850-2855
- Abstract
- This paper presents a new pipeline inspection robot with a linkage type mechanical clutch, which is designed for inspection of pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation. ©2010 IEEE.
- URI
- https://ieeexplore.ieee.org/document/5652391https://repository.hanyang.ac.kr/handle/20.500.11754/181081
- ISSN
- 2153-0858;2153-0866
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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