NDLI: An in-pipe inspection robot based on adaptive mobile mechanism: mechanical design and basic experiments

Content Provider	IEEE Xplore Digital Library
Author	Peng Li Shugen Ma Bin Li Yuechao Wang Changlong Ye
Copyright Year	2007
Description	Author affiliation: Chinese Acad. of Sci., Shenyang (Peng Li)
Abstract	A robot, which is composed of adaptive mobile mechanism, is developed for the purpose of performing the internal inspection tasks of pipelines. Adaptability and efficiency are the basic considerations for this robot. Based on these concepts, a prototype is designed and fabricated. The proposed adaptive mobile mechanism equipped with one actuator can perform two working modes, a normal working mode and an assistant enhanced mode. Robot under the normal working mode is used for moving in pipe or monitoring the inner surface of the pipe. On the other hand, robot under the assistant enhanced mode will produce a larger torque to help itself surmount an obstacle in the pipe without any other driving actuator. This special feature is achieved by applying a power transmission mechanism. The rotation problem of the stator is solved according to the calculation results of the robot kinematics. Basic experiments have been conducted to testify the adaptability and efficiency of the robot.
Starting Page	2576
Ending Page	2581
File Size	849863
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399074
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Inspection Mobile robots Actuators Pipelines Prototypes Monitoring Torque Power transmission Stators Robot kinematics
Content Type	Text
Resource Type	Article

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