Development of an inspection robot for small diameter gas distribution mains


Dertien, Edwin and Stramigioli, Stefano and Pulles, Kees (2011) Development of an inspection robot for small diameter gas distribution mains. In: IEEE International Conference on Robotics and Automation, ICRA 2011, 9-13 May 2011, Shanghai, China (pp. pp. 5044-5049).

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Abstract:This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.
Item Type:Conference or Workshop Item
Copyright:© 2011 IEEE
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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