A miniature inspection robot negotiating pipes of widely varying diameter
A miniature inspection robot negotiating pipes of widely varying diameter
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DOI：
10.1109/robot.2003.1242006
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发表时间：
2003-11
期刊：
影响因子：
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通讯作者：
K. Suzumori;S. Wakimoto;M. Takata
中科院分区：
文献类型：
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作者：
K. Suzumori;S. Wakimoto;M. Takata
本研究的目的是实现一种小型机器人，能够在机器人运行过程中穿过直径变化很大的管道。本文提出了一种名为“蛇行驱动”的新型管内运动机构，并通过原型模型的实验数据展示了其潜力和基本特性。首先，在第2至5节中，讨论了蛇行驱动机构的基本行驶特性：推导了基本特性的理论公式和控制算法，在PC上模拟了机器人的运动，并设计、开发和测试了原型模型。接下来，在第 6 节和第 7 节中，推导了前连杆的附加控制算法。它们对于管道 T 形分支和 L 形弯头的转向以及摄像机视图稳定来说是必需的。软件模拟和实验也显示了它们的性能。原型机器人在直径为55毫米至331毫米的管道中移动，最大速度为22毫米/秒。该论文还表明，原型机可以通过安装在机器人上的摄像头来检查管道的 T 形分支和 L 形弯头。
The purpose of this research is to realize a small robot which can negotiate pipes whose diameter varies widely during the robot's course. A new in-pipe locomotion mechanism named "snaking drive" is proposed in this paper and its potential and fundamental characteristics are shown with experimental data of the prototype model. First, in the sections 2 to 5, the basic traveling characteristics of the snaking drive mechanism are discussed: a theoretical formula of the fundamental characteristics and control algorithm are derived, the motions of the robot are simulated on a PC, and the prototype model was designed, developed, and tested. Next, in the sections 6 and 7, additional control algorithms for the front link are derived. They are necessary for steering at T-branches and L-bends of pipes, and also for camera view stabilization. Their performances are also shown by software simulation and experiments. The prototype robots moved in pipes whose diameter varies between 55 mm to 331 mm with the maximum speed of 22 mm/s. The paper also shows that the prototype negotiates T-branches and L-bends of pipes with inspection capability through a camera mounted on the robot.