Development of spiral driven type mobile robot for NDT inspection in small pipes of thermal power plants

Author

Seungho Kim ; Chang Hoi Kim ; Yeong-geol Bae ; Seyoung Jung

Author_Institution

Korea Atomic Energy Res. Inst., Daejeon, South Korea

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

924

Lastpage

928

Abstract

A high traction force mobile robot has been developed as a platform for a long distance inspection under 10cm scale diameter pipes for plants facilities. The dimensions of robot body and optimal mechanism were studied to maximize the robot volume capacity and traction force. The mechanism was adopted with a spiral driven type to drag a cable and pass through a u-bent pipe area. Performance tests and robot system modifications were carried out in a real scale mock-up to verify and review the applicability in utilities.

Keywords

inspection; mobile robots; pipes; service robots; thermal power stations; traction; NDT inspection; high traction force mobile robot; long distance inspection; performance tests; plants facilities; robot system modifications; robot traction force; robot volume capacity; size 10 cm; spiral driven type mobile robot; thermal power plants; u-bent pipe; Corrosion; Force; Force measurement; Friction; Materials; Mobile robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6704047

Filename

6704047