A Flat Pipeline Inspection Robot with Two Wheel Chains

被引：0
|
作者：
Kwon, Young-Sik [2 ]
Lee, Bae [3 ]
Whang, In-Cheol [3 ]
Kim, Whee-kuk [4 ]
Yi, Byung-Ju [1 ]
机构：
[1] Hanyang Univ, Dept Elect Syst Engn, Seoul, South Korea
[2] Hanyang Univ, Sch Elect Engn & Comp Sci, Seoul, South Korea
[3] Doobae Syst, Seoul, South Korea
[4] Korea Univ, Dept Control & Instrument Engn, Seoul, South Korea
来源：
2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2011年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new pipeline inspection robot that has multiple sensors for inspection of 80-100mm pipelines. The special feature of this robot is realization of driving and steering capability by using only two wheel chains. Compared to popularly employed pipeline robots using three wheel chains, the new design allows simple robot control and easy user interface, specially at T-branch. As another advantage, the flat shape of this robot allows mounting additional sensors on the both sides of the robot. The kinematics and three control modes are described. Finally, the performance of this robot system is verified by experimentation.
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页数：6
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