Design of a pipeline inspection robot with belt driven ridged cone shaped skate model

被引：0
|
作者：
Chang, Fa-Shian [1 ]
Hwang, Lih-Tyng [2 ]
Liu, Chih-Feng [1 ]
Wang, Wei-Sheng [1 ]
Lee, Jeng-Nan [1 ]
Wang, Shun-Min [1 ]
Cho, Kai-Yi [1 ]
机构：
[1] Cheng Shiu Univ, Dept Elect, Kaohsiung 804, Taiwan
[2] Cheng Shiu Univ, Inst Commun Engn, Kaohsiung 804, Taiwan
来源：
2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2015年
关键词：
mobile robotics; cognitive robotics; pipeline inspection robot; belt driven; ridged cone shaped skate; linkage clutch; wheel chain;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a pipeline inspection robot with a linkage mechanical clutch, which consists a novel belt driven ridged cone shaped skate model that can be used to conquest irregular environmental barriers. The mechanical clutch is a 3-bar linkage mechanism. The robot is designed to be conformal to the environment: each chain being in touch with the walls of pipeline or tunnel. Thus, the robot can be operated in various configurations and sizes of pipeline, and can utilize the belt driven corrugate-ridged cone shaped skate model to advance in irregular barriers of pipeline. The prototype of the robot system has been developed, and experiments were carried out to verify the validity of the proposed design.
引用
收藏
页码：787 / 792
页数：6
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