Development of an inspection robot for small diameter gas distribution mains
This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.
Edwin Dertien Stefano Stramigioli Kees Pulles
University of Twente CTIT Institute Enschede, The Netherlands KIWA Gastec B.V.Apeldoorn, The Netherlands
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5044-5049
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）