An in-pipe inspection robot based on adaptive mobile mechanism: Mechanical design and basic experiments

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	An in-pipe inspection robot based on adaptive mobile mechanism: Mechanical design and basic experiments
	Li P(李鹏); Ma SG(马书根); Li B(李斌); Wang YC(王越超); Ye ZL(叶长龙)
	2007
会议名称	IEEE/RSJ International Conference on Intelligent Robots and Systems
会议日期	October 29 - November 2, 2007
会议地点	San Diego, CA
页码	2582-2587
中文摘要	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.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	IEEE, RSJ
会议录	2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4244-0911-2
WOS记录号	WOS:000254073201196
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/8574]
专题	沈阳自动化研究所_机器人学研究室
推荐引用方式 GB/T 7714	Li P,Ma SG,Li B,et al. An in-pipe inspection robot based on adaptive mobile mechanism: Mechanical design and basic experiments[C]. 见:IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, CA. October 29 - November 2, 2007.