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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
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