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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Amir, A. F. Forough Nassiraei Mikuriya, Yoshikazu Ishii, Kazuo |
| Copyright Year | 2006 |
| Abstract | In the current sewer pipe inspection technology, all commercial sewer inspection robots have a poor mobility function to pass any kind of pipe-bends such as curves and junctions so that those robots are only capable to move into the straight pipes. In this paper, we describe the design, modeling, simulation and implementation of a compact and novel moving mechanism, called "nSIR mechanism", with capability of moving into the straight pipe and passing different kinds of pipe bends without need to any intelligence of the controller or sensor reading. The design is based on the concept of passive adaptation of robot wheels to the bends in the pipe. This is accomplished by proper wheels orientation and passive damping of springs. In addition, this moving mechanism has capability to pass the different size of pipes in diameter even from a bigger diameter pipe to smaller diameter and also can pass obstacle and go down step. After describing the principle of nSIR mechanism, this paper gives experimentally that a prototype of our robot "KANTARO" includes of this mechanism can realize all the above movement functions. |
| Sponsorship | Dynamic Systems and Control Division |
| Starting Page | 1299 |
| Ending Page | 1305 |
| Page Count | 7 |
| File Format | |
| ISBN | 0791847683 |
| DOI | 10.1115/IMECE2006-14265 |
| e-ISBN | 0791837904 |
| Volume Number | Dynamic Systems and Control, Parts A and B |
| Conference Proceedings | ASME 2006 International Mechanical Engineering Congress and Exposition |
| Language | English |
| Publisher Date | 2006-11-05 |
| Publisher Place | Chicago, Illinois, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Mechanical admittance Pipe bends Wheels Control equipment Inspection Modeling Design Passive damping Sewer pipes Simulation Sensors Sewer systems Pipes Engineering prototypes Junctions Springs Robots |
| Content Type | Text |
| Resource Type | Article |
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