Remotely controlled prehensile locomotion of a two-module 3D pipe-climbing robot

被引:23
作者
Han, Sangchul [1 ]
Ahn, Jaekyu [2 ]
Moon, Hyungpil [1 ]
机构
[1] Sungkyunkwan Univ, Sch Mech Engn, Seoburo 2066, Suwon 16419, South Korea
[2] KNR Syst, Wonam Ro 159, Yongin 17124, South Korea
基金
新加坡国家研究基金会;
关键词
Climbing robot; Pipe inspection; NDT robot system; Out-pipe robot; INSPECTION;
D O I
10.1007/s12206-016-0345-9
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
Most safety inspections of large piping structures are performed by humans. However, this approach requires considerable time and money and does not guarantee the safety of the inspectors. The proposed pipe-climbing robot is designed to move on the outside of large pipe structures and perform non-destructive inspection in place of human inspectors. Required to negotiate external obstacles such as fixtures, flanges, and valves, as well as pipe components such as elbow and T-branch joints, the proposed pipe-climbing robot comprises two driving modules and an actuated connecting arm. By working together, the two driving modules overcome the various obstacle components in a pipeline network. The wheel-driven locomotion mechanisms of the system also enable it to move quickly along the pipeline. A strain gauge is attached to the climbing arm to confirm the grasping state of the robot on the pipe. The robot is designed to attach stably to a pipe, which features a very low backlash, by means of worm drive and ball screw mechanisms. Experiments show the ability of the robot to grasp stably on a pipeline and climb the pipeline at a speed of 18 cm/s.
引用
收藏
页码:1875 / 1882
页数:8
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