In-pipe Robot Based on Selective Drive Mechanism

被引：2

作者：

Roh, Se-Gon ^{[1
]}

Kim, Do Wan ^{[1
]}

Lee, Jung-Sub ^{[1
]}

Moon, Hyungpil ^{[1
]}

Choi, Hyouk Ryeol ^{[1
]}

机构：

[1] Sungkyunkwan Univ, Sch Mech Engn, Suwon 440746, Kyunggi Do, South Korea

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2009年 / 7卷 / 01期

关键词：

Clutch; differential drive; in-pipe robot; selective drive; VEHICLE;

D O I：

10.1007/s12555-009-0113-z

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents an in-pipe robot, called MRINSPECT V (Multifunctional Robotic crawler for M-pipe inSPECTion V), which is under development for the inspection of pipelines with a nominal 8-inch inside diameter. To travel freely in every pipeline element, the robot adopts a differential driving mechanism that we have developed. Furthermore, by introducing clutches in transmitting driving power to the wheels, MRINSPECT V is able to select the suitable driving method according to the shape of the pipeline and save the energy to drive in pipelines. In this paper, the critical points in the design and construction of the proposed robot are described with the preliminary results that yield good mobility and increased efficiency.

引用

页码：105 / 112

页数：8

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