Development of high mobility in-pipe inspection robot

In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robo...

Full description

Saved in:
Bibliographic Details
Published in2011 IEEE/SICE International Symposium on System Integration pp. 479 - 484
Main Authors Woongsun Jeon, Jungwan Park, Inho Kim, Yoon-Koo Kang, Hyunseok Yang
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.12.2011
Subjects
Silicon
Online AccessGet full text
ISBN9781457715235
1457715236
DOI10.1109/SII.2011.6147496

Cover

More Information
Summary:In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robot compact and adaptable to pipe diameter change from 205mm to 305mm. We also analyzed steering locomotion of the robot and propose a simple strategy for navigating in a T-branch pipe. The mechanisms and strategy are demonstrated by experiment.
ISBN:9781457715235
1457715236
DOI:10.1109/SII.2011.6147496