Title :
New in-pipe robot capable of coping with various diameters
Author :
Yabe, Sari ; Masuta, Hiroyuki ; Lim, Hun-ok
Author_Institution :
Grad. Sch. of Eng., Kanagawa Univ., Yokohama, Japan
Abstract :
This paper describes a new robot capable of inspecting pipes with different diameters. The robot is composed of units and connecting links. One unit is used for the robot to move in a straight pipe, while two or more units are needed to move and turn in a divergent pipe. Several experiments are conducted in the pipes with different diameters, and the effectiveness of the mechanism of the robot is confirmed.
Keywords :
inspection; mobile robots; pipes; robot kinematics; connecting links; divergent pipe; in-pipe robot; mobile robot; pipe inspection; robot mechanism; robot movement; straight pipe; Control systems; DC motors; Inspection; Mobile robots; Robot sensing systems; Wheels; Inspection robot; body link; mobile robot; pipe robot; suppression mechanism;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2012 12th International Conference on
Conference_Location :
JeJu Island
Print_ISBN :
978-1-4673-2247-8
