Development of a pipeline inspection robot system with diameter of 40mm to 70mm (Tbot-40)
- Authors
- Kwon, Young sik; Yi, Byung ju
- Issue Date
- Aug-2010
- Publisher
- IEEE
- Keywords
- Robot applications; Mechanisms; Mechatronics; Field test; Robot system; Torsional stress; Computer simulation; CMOS camera; Pipelines; Wheels; Inspection; DC motors; Lighting devices; Pipeline inspection; Torsion Springs; Chain-mechanism; Reconfigurable r
- Citation
- 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, pp.258 - 263
- Indexed
- SCOPUS
- Journal Title
- 2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010
- Start Page
- 258
- End Page
- 263
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/40395
- DOI
- 10.1109/ICMA.2010.5589084
- ISSN
- 2152-7431
- Abstract
- This paper deal with a new foldable pipeline inspection robot that can be used for inspection of pipelines with 40mm-70mm diameter. This reconfigurable robot has three powered wheel chains and each wheel chain is operated by a micro DC motor. Moreover the new wheel chain mechanism is foldable by using a new torsion spring and its backbone. Using this foldable mechanism, a small-sized robot whose external diameter is less than 40mm can be designed. Validity of this new foldable wheel chain mechanism is proved through dynamic simulation using a commercial dynamic simulation program. Based on this, the stiffness of the torsion spring and the actuator size of DC motors are decided. As a result, a proto type of the pipeline inspection robot system is developed. It consists of a main body, two CMOS cameras, and two lighting devices. The validity of this robot system was proved by experimentation at the test bed, followed by a field test at an old apartment. © 2010 IEEE.
- Files in This Item
-
Go to Link
- Appears in
Collections - COLLEGE OF ENGINEERING SCIENCES > SCHOOL OF ELECTRICAL ENGINEERING > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.