Development of in-pipe robot using clutch-based selective driving algorithm

Do Wan Kim; Se Gon Roh; Jung Sub Lee; Soo Hwan Lee; Hyouk Ryeol Choi

doi:10.3795/KSME-A.2008.32.3.223

Development of in-pipe robot using clutch-based selective driving algorithm

Do Wan Kim, Se Gon Roh, Jung Sub Lee, Soo Hwan Lee, Hyouk Ryeol Choi

Department of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

12 Scopus citations

Abstract

This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe inSPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MJUNSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.

Original language	English
Pages (from-to)	223-231
Number of pages	9
Journal	Transactions of the Korean Society of Mechanical Engineers, A
Volume	32
Issue number	3
DOIs	https://doi.org/10.3795/KSME-A.2008.32.3.223
State	Published - Mar 2008

Keywords

Clutch
Differential driving
In-pipe robot
Selective driving

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10.3795/KSME-A.2008.32.3.223

Cite this

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title = "Development of in-pipe robot using clutch-based selective driving algorithm",

abstract = "This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe inSPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MJUNSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.",

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AU - Kim, Do Wan

AU - Roh, Se Gon

AU - Lee, Jung Sub

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PY - 2008/3

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N2 - This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe inSPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MJUNSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.

AB - This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe inSPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MJUNSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.

KW - Clutch

KW - Differential driving

KW - In-pipe robot

KW - Selective driving

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M3 - Article

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JO - Transactions of the Korean Society of Mechanical Engineers, A

JF - Transactions of the Korean Society of Mechanical Engineers, A

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Development of in-pipe robot using clutch-based selective driving algorithm

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Keywords

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