DEWALOP-DYNAMICAL INDEPENDENT SUSPENSION SYSTEM

摘要：

The aim of DeWaLoP (Developing Water Loss Prevention) project ts to redevelop the pipe joints of fresh water cast-iron pipes by building a robot that crawls into water pipelines and is able to apply a restoration material to repair the pipes.In this paper a description of the Dynamical Independent Suspension System (DISS) of the DeWaLoP system is presented, this DISS enables the robot to redevelop the pipe joints by maintaining its position in the centre of the pipe at all time.The in-pipe robot consists of two mechanical systems, a mobile robot and a maintenance unit, this maintenance unit has attached the redevelopment tools, which by rotating around the inner pipe clean it and restore it.The DISS enables the maintenance unit to expand or compress its six wheeled-legs supporting its structure along the centre of the pipe.By compressing its legs, the wells become activate enabling the unit to move along the pipe with the mobile robot.By expanding its legs, the unit becomes a rigid structure inside pipe, enabling the redevelopment tools to work precisely, by maintaining its position in the centre of the pipe.

关键词： In-pipe robot Mobile robot Suspension system

作者: LUIS A.MATEOS MARKUS VINCZE

作者单位: Automation and Control Institute (ACIN) Vienna University of Technology Gusshausstrasse 27 - 29 / E376,A - 1040,Vienna,Austria

会议类型: 国际会议

会议名称: 3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)

会议地点: 大连

会议语种:英文

页码: 287-292

在线出版日期: 2011-08-26（万方平台首次上网日期，不代表论文的发表时间）