Title :
Characteristics of In-pipe Mobile Robot with Wheel Drive Mechanism using Planetary Gears
Author :
Miyagawa, Toyomi ; Iwatsuki, Nobuyuki
Author_Institution :
Toshiba Corp., Kawasaki
Abstract :
This paper describes the running static analysis of an in-pipe mobile robot using a wheel drive mechanism for straight piping. The wheel mechanism, which is driven by planetary gears and worm gears, can both drive the wheels and press them against the pipe wall using only an actuator and simple mechanisms. The relation among the size of the load, carrier angle, and the pressing load against the pipe wall is theoretically analyzed and experimentally examined. The traction force of the robot is calculable with motor driving torque, and the maximum traction force is estimated with no-load driving torque of robot and torque constant of the motor. From the running experiments by the prototype robot, which is 45 mm in diameter and 130 mm in length, the maximum traction force was at least 20 times the weight of the robot.
Keywords :
actuators; gears; mobile robots; robot kinematics; actuator; in-pipe mobile robot; maximum traction force; motor driving torque; planetary gears; straight piping; wheel drive mechanism; worm gears; Friction; Gears; Inspection; Mobile robots; Pressing; Robotics and automation; Sun; Torque; Traction motors; Wheels; In-pipe mobile robot; Micro robot; Planetary gears; Pressing load; Wheel mechanism;
Conference_Titel :
Mechatronics and Automation, 2007. ICMA 2007. International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-0828-3
Electronic_ISBN :
978-1-4244-0828-3
DOI :
10.1109/ICMA.2007.4304152