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Development of In-Pipe Robot Capable of Coping with Various Diameters
Kaname Sato,Taku Ohki,Hun-ok Lim 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper describes a robot capable of inspecting a pipe. The robot is composed of units and connecting links. Three or more units are combined for the robot to move in a straight pipe, while four or more units are needed to move and turn in a divergent pipe. It is also able to with pipes with different diameters by adjusting to the number of units. Several experiments are conducted in the pipes with different diameters, and the effectiveness of the mechanism of the robot is confirmed.
Development of Pipe Inspection Robot
Hun-ok Lim,Taku Ohki 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper describes a robot capable of inspecting a pipe. The robot consists of a fore leg system, a rear leg system and a body. The fore and rear leg systems are constructed by using three worm gear systems that are arranged at an angle of 120 degrees with respect to each oter to operate inside pipes of different diameters. Also, the body is designed with two joints so as to change the direction in pipe junctions. Several experiments are conducted in pipes of different diameters, and the effectiveness of the mechanism of the robot is confirmed.