NDLI: Self-rescue mechanism for screw drive in-pipe robots

Content Provider	IEEE Xplore Digital Library
Author	Peng Li Shugen Ma Bin Li Yuechao Wang Yunhui Liu
Copyright Year	2010
Description	Author affiliation: State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, China (Bin Li; Yuechao Wang) \|\| Department of Robotics, Ritsumeikan University, Shiga-ken, Japan (Shugen Ma) \|\| Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, China (Peng Li; Yunhui Liu)
Abstract	This paper presents a self-rescue mechanism for a screw drive in-pipe robot, which only uses one DC motor. The robot has two working modes, Normal Working Mode and Self-rescue Mode. Under normal working mode, the robot propels itself in the pipe just as other classical screw drive robots. When the robot encounters the obstacle and gets jammed, the lock up mechanism and motion control mechanism of the robot are activated. Then, the robot changes from working mode to self-rescue mode and moves away in the reverse direction to avoid jamming in the pipe. The change of the working mode is determined by the characteristics of the mechanism. The proposed mechanism can be used as a safety protection method for the pipe robot. Experiments have been conducted to testify the proposed mechanism. Compared with those with screw drive mechanisms, robots with self-rescue mechanism are able to avoid jamming in the pipe.
Starting Page	2843
Ending Page	2849
File Size	2078294
Page Count	7
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650482
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Gears Fasteners Jamming Springs Contracts Traction motors
Content Type	Text
Resource Type	Article

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