Title :
Novel robot mechanism capable of 3D differential driving inside pipelines
Author :
Seung Ung Yang ; Ho Moon Kim ; Jung Seok Suh ; Yun Seok Choi ; Hyeong Min Mun ; Chan Min Park ; Hyungpil Moon ; Hyouk Ryeol Choi
Author_Institution :
Dept. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
Abstract :
In this paper, novel mechanisms for an in-pipe robot are presented. Multi-axial differential gear mechanism is designed to be driven with only single motor at any elbow-pipe without additional control efforts while all three wheels keep driving power. Brake system was added to prevent slip of wheel. Active wall pressing mechanism allows controlling the contact forces. And additional rescue mechanism is designed for emergency situation. Lastly, their effectiveness is experimentally validated.
Keywords :
brakes; force control; gears; industrial robots; mobile robots; pipelines; wheels; 3d differential driving; active wall pressing mechanism; brake system; contact force control; gas pipelines; in-pipe robot mechanism; industrial facilities; multiaxial differential gear mechanism; wheel slip; Gears; Mobile robots; Pipelines; Pressing; Three-dimensional displays; Wheels;
Conference_Titel :
Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on
Conference_Location :
Chicago, IL
DOI :
10.1109/IROS.2014.6942820
