Development of an actively adaptable in-pipe robot

Jungwan Park; Taehyun Kim; Hyunseok Yang

doi:10.1109/ICMECH.2009.4957174

Development of an actively adaptable in-pipe robot

Jungwan Park, Taehyun Kim, Hyunseok Yang

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

25 Citations (Scopus)

Abstract

This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.

Original language	English
Title of host publication	IEEE 2009 International Conference on Mechatronics, ICM 2009
DOIs	https://doi.org/10.1109/ICMECH.2009.4957174
Publication status	Published - 2009
Event	IEEE 2009 International Conference on Mechatronics, ICM 2009 - Malaga, Spain Duration: 2009 Apr 14 → 2009 Apr 17

Publication series

Name	IEEE 2009 International Conference on Mechatronics, ICM 2009

Other

Other	IEEE 2009 International Conference on Mechatronics, ICM 2009
Country	Spain
City	Malaga
Period	09/4/14 → 09/4/17

All Science Journal Classification (ASJC) codes

Electrical and Electronic Engineering
Mechanical Engineering

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10.1109/ICMECH.2009.4957174

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title = "Development of an actively adaptable in-pipe robot",

abstract = "This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.",

author = "Jungwan Park and Taehyun Kim and Hyunseok Yang",

year = "2009",

doi = "10.1109/ICMECH.2009.4957174",

language = "English",

isbn = "9781424441952",

series = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

booktitle = "IEEE 2009 International Conference on Mechatronics, ICM 2009",

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AB - This paper proposes an in-pipe robot adaptable to pipe diameter change. The robot can adapt to 400 to 700 mm diameter piping. A pantograph mechanism provides the adaptability and the robot drives using tracks. One track module consists of front and rear tracks connected by an active joint with structural compliance. Its passive foldable characteristics provide information of the frontal space and help keeping contact with the surface on which it travels. This paper also suggests two control algorithms. One is a method to keeping proper normal force without pressure sensors. The other is a posture control to move in curved pipe by pantograph angle detection. These algorithms are verified by experiment.

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DO - 10.1109/ICMECH.2009.4957174

M3 - Conference contribution

AN - SCOPUS:67650286855

SN - 9781424441952

T3 - IEEE 2009 International Conference on Mechatronics, ICM 2009

BT - IEEE 2009 International Conference on Mechatronics, ICM 2009

T2 - IEEE 2009 International Conference on Mechatronics, ICM 2009

Y2 - 14 April 2009 through 17 April 2009

ER -

Development of an actively adaptable in-pipe robot

Abstract

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