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한상철(SangChul Han),이건욱(KunWook Lee),문형필(Hyungpil Moon) 대한기계학회 2011 대한기계학회 춘추학술대회 Vol.2011 No.10
Periodical inspection and monitoring on industrial structure, such as nuclear power plant, petrochemical complex, ships, bridges are very important to secure safety industrial structure. However, most of current inspection methods have been performed in dangerous or limitative a place for human. In this paper, we introduce a pipe inspection climbing robot which consists of adhension mechanism and moving mechanism for climbing at high speed and obstacle avoiding mechanism for overcoming bend-pipe or branch-pipe. We have designed a robot mechanism and performed static equilibrium conditions and dynamic simulation using Recurdyn.