A remotely controlled out-pipe climbing robot

Sang Chul Han; Jaekyu An; Hyungpil Moon

doi:10.1109/URAI.2013.6677490

A remotely controlled out-pipe climbing robot

Sang Chul Han, Jaekyu An, Hyungpil Moon

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Contribution to conference › Paper › peer-review

13 Scopus citations

Abstract

In this paper, a concept, design, modeling and prototype of a remotely controlled out-pipe climbing robot for inspection such as nuclear power plant pipe and petrochemical complex pipes are discussed. The robot consists of two moving modules and one connecting arm which can alternatively maneuver on the pipeline surface. This mechanism is a good solution for pipe climbing and obstacle. After discussing conceptions of the mechanism, modeling and some practical aspects of the detailed design are presented. Attached video shows the climbing performance of the two module robot on a 6-inch vertical pipe segment, the rotating maneuver for circumferential out-pipe surface inspection, and the branch climbing maneuver by two module cooperation.

Original language	English
Pages	126
Number of pages	1
DOIs	https://doi.org/10.1109/URAI.2013.6677490
State	Published - 2013
Event	2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 - Jeju, Korea, Republic of Duration: 30 Oct 2013 → 2 Nov 2013

Conference

Conference	2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013
Country/Territory	Korea, Republic of
City	Jeju
Period	30/10/13 → 2/11/13

Keywords

Out-Pipe Robot
Pipe Climbing
Wheel Based Climbing

Access to Document

10.1109/URAI.2013.6677490

Cite this

@conference{48affbad9f994a809902d387dc970ad0,

title = "A remotely controlled out-pipe climbing robot",

abstract = "In this paper, a concept, design, modeling and prototype of a remotely controlled out-pipe climbing robot for inspection such as nuclear power plant pipe and petrochemical complex pipes are discussed. The robot consists of two moving modules and one connecting arm which can alternatively maneuver on the pipeline surface. This mechanism is a good solution for pipe climbing and obstacle. After discussing conceptions of the mechanism, modeling and some practical aspects of the detailed design are presented. Attached video shows the climbing performance of the two module robot on a 6-inch vertical pipe segment, the rotating maneuver for circumferential out-pipe surface inspection, and the branch climbing maneuver by two module cooperation.",

keywords = "Out-Pipe Robot, Pipe Climbing, Wheel Based Climbing",

author = "Han, \{Sang Chul\} and Jaekyu An and Hyungpil Moon",

year = "2013",

doi = "10.1109/URAI.2013.6677490",

language = "English",

pages = "126",

note = "2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013 ; Conference date: 30-10-2013 Through 02-11-2013",

}

TY - CONF

T1 - A remotely controlled out-pipe climbing robot

AU - Han, Sang Chul

AU - An, Jaekyu

AU - Moon, Hyungpil

PY - 2013

Y1 - 2013

N2 - In this paper, a concept, design, modeling and prototype of a remotely controlled out-pipe climbing robot for inspection such as nuclear power plant pipe and petrochemical complex pipes are discussed. The robot consists of two moving modules and one connecting arm which can alternatively maneuver on the pipeline surface. This mechanism is a good solution for pipe climbing and obstacle. After discussing conceptions of the mechanism, modeling and some practical aspects of the detailed design are presented. Attached video shows the climbing performance of the two module robot on a 6-inch vertical pipe segment, the rotating maneuver for circumferential out-pipe surface inspection, and the branch climbing maneuver by two module cooperation.

AB - In this paper, a concept, design, modeling and prototype of a remotely controlled out-pipe climbing robot for inspection such as nuclear power plant pipe and petrochemical complex pipes are discussed. The robot consists of two moving modules and one connecting arm which can alternatively maneuver on the pipeline surface. This mechanism is a good solution for pipe climbing and obstacle. After discussing conceptions of the mechanism, modeling and some practical aspects of the detailed design are presented. Attached video shows the climbing performance of the two module robot on a 6-inch vertical pipe segment, the rotating maneuver for circumferential out-pipe surface inspection, and the branch climbing maneuver by two module cooperation.

KW - Out-Pipe Robot

KW - Pipe Climbing

KW - Wheel Based Climbing

UR - https://www.scopus.com/pages/publications/84899127831

U2 - 10.1109/URAI.2013.6677490

DO - 10.1109/URAI.2013.6677490

M3 - Paper

AN - SCOPUS:84899127831

SP - 126

T2 - 2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2013

Y2 - 30 October 2013 through 2 November 2013

ER -

A remotely controlled out-pipe climbing robot

Abstract

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this