DocumentCode
3292953
Title
Design of an underactuated parallelogram crawler module for an in-pipe robot
Author
Kakogawa, Atsushi ; Ma, Siwei
Author_Institution
Dept. of Robot., Ritsumeikan Univ., Kusatsu, Japan
fYear
2013
fDate
12-14 Dec. 2013
Firstpage
1324
Lastpage
1329
Abstract
This paper presents a design method to determine the output ratio of a differential mechanism, which is installed in an in-pipe robot with three underactuated parallelogram crawler modules. The crawler module can automatically shift its shape to a parallelogram when encountering with obstacles. To clarify the requirements for the mechanism, two outputs of each crawler mechanism (torque of the arms and front pulley) are quasi-statically analyzed, and how the environmental and design parameters affect the system are verified.
Keywords
inspection; mobile robots; pipes; service robots; crawler mechanism; design parameters; differential mechanism; in-pipe robot; underactuated parallelogram crawler module; Belts; Crawlers; Equations; Force; Pulleys; Robots; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location
Shenzhen
Type
conf
DOI
10.1109/ROBIO.2013.6739648
Filename
6739648
Link To Document