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A pipeline inspection robot with a linkage type mechanical clutch
- Authors
- Kwon, Young sik; Lee, Bae; Whang, In cheol; Yi, Byung ju
- Issue Date
- Oct-2010
- Publisher
- IEEE
- Keywords
- Robot applications; Kinematic model; Robot system; Pipelines; Linkage mechanism; Proto type; Kinematics; Inspection; Pipeline inspection; Clutches; Intelligent robots
- Citation
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp 2850 - 2855
- Pages
- 6
- Indexed
- SCIE
- Journal Title
- IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
- Start Page
- 2850
- End Page
- 2855
- ISSN
- 2153-0858
2153-0866
- Abstract
- This paper presents a new pipeline inspection robot with a linkage type mechanical clutch, which is designed for inspection of pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation. ©2010 IEEE.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)