Title :
A comparative design study on in-pipe inspection micro robots using AHP method
Author :
Nadafi, Reza ; Edalatfar, Fatemeh ; Zomorodian, Parisa ; Nejad, Saman Nazari ; Kabganian, Mansour ; Barazandeh, Farshad
Author_Institution :
New Technol. Res. Center (NTRC), Amirkabir Univ. of Technol., Tehran, Iran
Abstract :
The issue of low diameter pipe inspection microrobots is very important in microrobotic systems. This paper presents the results of a study on the various built or designed microrobots. This study includes comparing these in-pipe microrobots from dynamical efficiency, functionality, dynamical modeling and manufacturing points of view applying AHP method with the purpose of determining the best mechanisms in each field to assist the design of a novel microrobotic system with eliminating the existing problems.
Keywords :
decision making; inspection; microrobots; mobile robots; pipes; robot dynamics; AHP method; low diameter in-pipe inspection microrobots; microrobotic systems; Actuators; Animals; Dielectrics; Earth; Humans; Inspection; Legged locomotion; Mechanical engineering; Robots; Virtual manufacturing; AHP; In-pipe moving mechanisms; Microrobot;
Conference_Titel :
Design Test Integration and Packaging of MEMS/MOEMS (DTIP), 2010 Symposium on
Conference_Location :
Seville
Print_ISBN :
978-1-4244-6636-8
Electronic_ISBN :
978-2-35500-011-9
