TY - GEN
T1 - An In-pipe robot with multi-axial differential gear mechanism
AU - Kim, Ho Moon
AU - Suh, Jung Seok
AU - Choi, Yun Seok
AU - Trong, Tran Duc
AU - Moon, Hyungpil
AU - Koo, Jachoon
AU - Ryew, Sungmoo
AU - Choi, Hyouk Ryeol
PY - 2013
Y1 - 2013
N2 - This paper presents a mechanism for an in-pipe robot, called MRINSPECT VI (Multifunctional Robotic crawler for In-pipe inspection VI), which is under development for the inspection of gas pipelines with 150mm inside diameter. The mechanism is composed of multi-axial differential gear mechanism, wall pressing one, and driven by single motor. It is designed to adapt to the varying inside geometries of pipelines such as elbows by modulating the velocities of active wheels mechanically without any control effort. In this paper, the design features of the mechanism are detailed and its effectiveness is experimentally validated.
AB - This paper presents a mechanism for an in-pipe robot, called MRINSPECT VI (Multifunctional Robotic crawler for In-pipe inspection VI), which is under development for the inspection of gas pipelines with 150mm inside diameter. The mechanism is composed of multi-axial differential gear mechanism, wall pressing one, and driven by single motor. It is designed to adapt to the varying inside geometries of pipelines such as elbows by modulating the velocities of active wheels mechanically without any control effort. In this paper, the design features of the mechanism are detailed and its effectiveness is experimentally validated.
UR - https://www.scopus.com/pages/publications/84893797745
U2 - 10.1109/IROS.2013.6696361
DO - 10.1109/IROS.2013.6696361
M3 - Conference contribution
AN - SCOPUS:84893797745
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 252
EP - 257
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -