DocumentCode
3349423
Title
A pipeline inspection robot with a linkage type mechanical clutch
Author
Kwon, Young-Sik ; Lee, Bae ; Whang, In-Cheol ; Yi, Byung-Ju
Author_Institution
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Seoul, South Korea
fYear
2010
fDate
18-22 Oct. 2010
Firstpage
2850
Lastpage
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.
Keywords
clutches; industrial robots; inspection; mobile robots; robot kinematics; kinematic model; linkage type mechanical clutch; parallel linkage mechanism; pipeline inspection robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location
Taipei
ISSN
2153-0858
Print_ISBN
978-1-4244-6674-0
Type
conf
DOI
10.1109/IROS.2010.5652391
Filename
5652391
Link To Document