Novel robot mechanism capable of 3D differential driving inside pipelines

Novel robot mechanism capable of 3D differential driving inside pipelines
复制标题

DOI：
10.1109/iros.2014.6942820
复制
发表时间：
2014-11
期刊：
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
--
通讯作者：
Seung Ung Yang;H. Kim;Jung Seok Suh;Y. Choi;Hyeong Min Mun;C. Park;H. Moon;Hyoukryeol Choi
Seung Ung Yang;H. Kim;Jung Seok Suh;Y. Choi;Hyeong Min Mun;C. Park;H. Moon;Hyoukryeol Choi
中科院分区：
其他
文献类型：
--
作者：
Seung Ung Yang;H. Kim;Jung Seok Suh;Y. Choi;Hyeong Min Mun;C. Park;H. Moon;Hyoukryeol Choi

文献摘要

被引文献

相似文献

在本文中，新型机构的管道机器人。多轴差动齿轮机构设计成在任一弯管处仅用单电机驱动，无需额外的控制努力，同时所有三个车轮都保持驱动力。增加了刹车系统以防止车轮打滑。主动壁压机构允许控制接触力。并针对紧急情况设计了额外的救援机制。最后，实验验证了它们的有效性。
In this paper, novel mechanisms for an in-pipe robot are presented. Multi-axial differential gear mechanism is designed to be driven with only single motor at any elbow-pipe without additional control efforts while all three wheels keep driving power. Brake system was added to prevent slip of wheel. Active wall pressing mechanism allows controlling the contact forces. And additional rescue mechanism is designed for emergency situation. Lastly, their effectiveness is experimentally validated.