Multifunctional mobile units with a same platform for in-pipe inspection robots

Document Type

Conference Proceeding

Publication Date

12-1-2008

Abstract

Robots are efficient and economic for in-pipe inspection tasks. In this paper, we deal with versatility and multifunction of in-pipe inspection robots. A versatile platform equipped with one driving motor is the main body of Multifunctional Mobile Unit (MMU) that performs inspection tasks. We have developed three kinds of MMU by fixing different assemblies on the proposed versatile platform. MMU1 is an adaptive mobile mechanism that changes its working mode autonomously and gets over the obstacle without any extra motor's help, in the case that the pipe diameter changes. MMU2 is a mechanism that has both driving ability and detecting function; MMU3 is equipped with assemblies that integrate the wheel and propeller function together, thus, MMU3 is able to propel both in dry pipe and watery pipe. These MMUs are all constructed from a same platform, which makes little increase of the cost but realizes of more kinds of robots. Several basic experiments have been conducted to confirm the effectiveness and mobility of the MMUs. ©2008 IEEE.

Publication Source (Journal or Book title)

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

First Page

2643

Last Page

2648

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