Title :
A pipeline inspection robot with a linkage type mechanical clutch
Author :
Kwon, Young-Sik ; Lee, Bae ; Whang, In-Cheol ; Yi, Byung-Ju
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Hanyang Univ., Seoul, South Korea
Abstract :
This paper presents a new pipeline inspection robot with a linkage type mechanical clutch, which is designed for inspection of pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.
Keywords :
clutches; industrial robots; inspection; mobile robots; robot kinematics; kinematic model; linkage type mechanical clutch; parallel linkage mechanism; pipeline inspection robot;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5652391
