이병주
2019-07-03T06:01:06Z
2019-07-03T06:01:06Z
2007-10
2007 International Conference on Control, Automation and Systems, Page. 712-716
978-89-950038-6-2
https://ieeexplore.ieee.org/document/4406991
https://repository.hanyang.ac.kr/handle/20.500.11754/107056
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.
This work was supported by the Korea Health 21 R&D Project, Ministry of Health & Welfare, Republic of Korea (02-PJ3-PG6-EV04-0003).
en_US
IEEE
Pipeline inspection robot system
Reconfigurable
Design of a reconfigurable indoor pipeline inspection robot
Article
10.1109/ICCAS.2007.4406991
Kwon, Y.-S.
Jung, E.-J.
Lim, H.
Yi, B.-J.
E
COLLEGE OF ENGINEERING SCIENCES[E]
DIVISION OF ELECTRICAL ENGINEERING
bj