Title :
A 2 DoF Servomotor-based Module for Pipe Inspection Modular Micro-robots
Author :
Brunete, A. ; Gambao, E. ; Torres, J.E. ; Hernando, M.
Author_Institution :
Dpto. Ing. Sistemas y Autom., Univ. Politecnica de Madrid
Abstract :
A 2 degrees of freedom module for pipe inspection modular micro-robots based on servomotors is presented in this article. A mechanical and electrical description of the module is also given, including the kinematics and the close control loop design to detect obstacles (walls). The main configurations in which it can be used are described as well: snake-like robots and chain multi-configurable modular robots. The different pipes and elbows it can move on are also shown
Keywords :
closed loop systems; collision avoidance; inspection; microrobots; mobile robots; robot dynamics; servomechanisms; close control loop design; obstacle detection; pipe inspection modular microrobots; servomotor-based module; snake-like robots; Connectors; Convergence; Elbow; Inspection; Intelligent robots; Kinematics; Maintenance; Robotic assembly; Servomotors; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.281898