A pipeline inspection robot with a linkage type mechanical clutch

A pipeline inspection robot with a linkage type mechanical clutch

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...

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Hauptverfasser: Young-Sik Kwon, Bae Lee, In-Cheol Whang, Byung-Ju Yi
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Couplings
Inspection
Mobile robots
Pipelines
Springs
Wheels
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creator Young-Sik Kwon
Bae Lee
In-Cheol Whang
Byung-Ju Yi
description 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.
doi_str_mv 10.1109/IROS.2010.5652391
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subjects Couplings
Inspection
Mobile robots
Pipelines
Springs
Wheels
title A pipeline inspection robot with a linkage type mechanical clutch
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