An in-pipe inspection robot based on adaptive mobile mechanism: Mechanical design and basic experiments
Document Type
Conference Proceeding
Publication Date
12-1-2007
Abstract
A robot, which is composed of adaptive mobile mechanism, is developed for the purpose of performing the internal inspection tasks of pipelines. Adaptability and efficiency are the basic considerations for this robot. Based on these concepts, a prototype is designed and fabricated. The proposed adaptive mobile mechanism equipped with one actuator can perform two working modes, a normal working mode and an assistant enhanced mode. Robot under the normal working mode is used for moving in pipe or monitoring the inner surface of the pipe. On the other hand, robot under the assistant enhanced mode will produce a larger torque to help itself surmount an obstacle in the pipe without any other driving actuator. This special feature is achieved by applying a power transmission mechanism. The rotation problem of the stator is solved according to the calculation results of the robot kinematics. Basic experiments have been conducted to testify the adaptability and efficiency of the robot. ©2007 IEEE.
Publication Source (Journal or Book title)
IEEE International Conference on Intelligent Robots and Systems
First Page
2576
Last Page
2581
Recommended Citation
Li, P., Ma, S., Li, B., Wang, Y., & Ye, C. (2007). An in-pipe inspection robot based on adaptive mobile mechanism: Mechanical design and basic experiments. IEEE International Conference on Intelligent Robots and Systems, 2576-2581. https://doi.org/10.1109/IROS.2007.4399074