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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Nishimura, T. Kakogawa, A. Shugen Ma |
| Copyright Year | 2012 |
| Description | Author affiliation: Department of Robotics, Ritsumeikan University, Japan (Nishimura, T.; Kakogawa, A.; Shugen Ma) |
| Abstract | Pipelines are important infrastructures in today's society. To avoid leakages in these pipelines, efficient robotic pipe inspections are required, and to this date, various types of in-pipe robots have been developed. Some of them can select their path at a T-branch at the expense of additional actuators. However, fewer actuators are better in terms of size reduction, energy conservation, production cost, and maintenance. To reduce the number of actuators, a screw drive mechanism with only one actuator has been developed for propelling an in-pipe robot through straight pipes and elbow pipes. Based on this screw drive mechanism, in this paper, we develop a novel robot that uses only two motors and can select pathways. The robot has three locomotion modes: screw driving, steering, and rolling modes. These modes enable the robot to navigate not only through straight pipes but also elbow pipes and T-branches. We performed experiments to verify the validity of the proposed mechanism. |
| Starting Page | 612 |
| Ending Page | 617 |
| File Size | 1252059 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467304290 |
| ISSN | 21618070 |
| e-ISBN | 9781467304306 |
| DOI | 10.1109/CoASE.2012.6386388 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2012-08-20 |
| Publisher Place | Korea (South) |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Fasteners Wheels Elbow Legged locomotion Actuators |
| Content Type | Text |
| Resource Type | Article |
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