Design of back-drivable joint mechanism for in-pipe robot

Ho Moon Kim; Seung Ung Yang; Yun Seok Choi; Hyeong Min Mun; Chan Min Park; Hyouk Ryeol Choi

doi:10.1109/IROS.2015.7353907

Design of back-drivable joint mechanism for in-pipe robot

Ho Moon Kim
, Seung Ung Yang
, Yun Seok Choi
, Hyeong Min Mun
, Chan Min Park
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

15 Scopus citations

Abstract

In this paper, a back-drivable joint mechanism for an in-pipe robot is presented. The joint mechanism consists of 2-pitch and 1-roll joint. The back-drivability of the joint mechanism is realized by using a ball-screw and a steel wire rope. When the in-pipe robot with the back-drivable joint mechanism passes through pipeline elements except the miter and the branch, the control of the joint mechanism is not required. In addition, a rescue mechanism is not needed in case of emergency such as the loss of power, communication and control. Besides, the 2-pitch joint of this joint module assists the in-pipe robot to pass through the miter and the branch safely and quickly. Finally, the performance of back-drivable joint module is experimentally validated.

Original language	English
Title of host publication	IROS Hamburg 2015 - Conference Digest
Subtitle of host publication	IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3779-3784
Number of pages	6
ISBN (Electronic)	9781479999941
DOIs	https://doi.org/10.1109/IROS.2015.7353907
State	Published - 11 Dec 2015
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany Duration: 28 Sep 2015 → 2 Oct 2015

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
Volume	2015-December
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/Territory	Germany
City	Hamburg
Period	28/09/15 → 2/10/15

Access to Document

10.1109/IROS.2015.7353907

Cite this

Kim, H. M., Yang, S. U., Choi, Y. S., Mun, H. M., Park, C. M., & Choi, H. R. (2015). Design of back-drivable joint mechanism for in-pipe robot. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3779-3784). Article 7353907 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353907

@inproceedings{a523fbba379645bea1ced4d9b173ecdb,

title = "Design of back-drivable joint mechanism for in-pipe robot",

abstract = "In this paper, a back-drivable joint mechanism for an in-pipe robot is presented. The joint mechanism consists of 2-pitch and 1-roll joint. The back-drivability of the joint mechanism is realized by using a ball-screw and a steel wire rope. When the in-pipe robot with the back-drivable joint mechanism passes through pipeline elements except the miter and the branch, the control of the joint mechanism is not required. In addition, a rescue mechanism is not needed in case of emergency such as the loss of power, communication and control. Besides, the 2-pitch joint of this joint module assists the in-pipe robot to pass through the miter and the branch safely and quickly. Finally, the performance of back-drivable joint module is experimentally validated.",

author = "Kim, \{Ho Moon\} and Yang, \{Seung Ung\} and Choi, \{Yun Seok\} and Mun, \{Hyeong Min\} and Park, \{Chan Min\} and Choi, \{Hyouk Ryeol\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 ; Conference date: 28-09-2015 Through 02-10-2015",

year = "2015",

month = dec,

day = "11",

doi = "10.1109/IROS.2015.7353907",

language = "English",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "IROS Hamburg 2015 - Conference Digest",

}

Kim, HM, Yang, SU, Choi, YS, Mun, HM, Park, CM & Choi, HR 2015, Design of back-drivable joint mechanism for in-pipe robot. in IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems., 7353907, IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, Institute of Electrical and Electronics Engineers Inc., pp. 3779-3784, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, 28/09/15. https://doi.org/10.1109/IROS.2015.7353907

Design of back-drivable joint mechanism for in-pipe robot. / Kim, Ho Moon; Yang, Seung Ung; Choi, Yun Seok et al.
IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2015. p. 3779-3784 7353907 (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Design of back-drivable joint mechanism for in-pipe robot

AU - Kim, Ho Moon

AU - Yang, Seung Ung

AU - Choi, Yun Seok

AU - Mun, Hyeong Min

AU - Park, Chan Min

AU - Choi, Hyouk Ryeol

PY - 2015/12/11

Y1 - 2015/12/11

N2 - In this paper, a back-drivable joint mechanism for an in-pipe robot is presented. The joint mechanism consists of 2-pitch and 1-roll joint. The back-drivability of the joint mechanism is realized by using a ball-screw and a steel wire rope. When the in-pipe robot with the back-drivable joint mechanism passes through pipeline elements except the miter and the branch, the control of the joint mechanism is not required. In addition, a rescue mechanism is not needed in case of emergency such as the loss of power, communication and control. Besides, the 2-pitch joint of this joint module assists the in-pipe robot to pass through the miter and the branch safely and quickly. Finally, the performance of back-drivable joint module is experimentally validated.

AB - In this paper, a back-drivable joint mechanism for an in-pipe robot is presented. The joint mechanism consists of 2-pitch and 1-roll joint. The back-drivability of the joint mechanism is realized by using a ball-screw and a steel wire rope. When the in-pipe robot with the back-drivable joint mechanism passes through pipeline elements except the miter and the branch, the control of the joint mechanism is not required. In addition, a rescue mechanism is not needed in case of emergency such as the loss of power, communication and control. Besides, the 2-pitch joint of this joint module assists the in-pipe robot to pass through the miter and the branch safely and quickly. Finally, the performance of back-drivable joint module is experimentally validated.

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M3 - Conference contribution

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T3 - IEEE International Conference on Intelligent Robots and Systems

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BT - IROS Hamburg 2015 - Conference Digest

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Kim HM, Yang SU, Choi YS, Mun HM, Park CM, Choi HR. Design of back-drivable joint mechanism for in-pipe robot. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2015. p. 3779-3784. 7353907. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2015.7353907

Design of back-drivable joint mechanism for in-pipe robot

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