Development of high mobility in-pipe inspection robot

Woongsun Jeon, Jungwan Park, Inho Kim, Yoon Koo Kang, Hyunseok Yang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

15 Citations (Scopus)

Abstract

In this paper, we propose a steerable inchworm type in-pipe inspection robot. An extensor mechanism using continuum links makes the robot possible for both steering and inchworm locomotion. The robot has two clamper modules which are composed of a crank-slider mechanism. The mechanism makes the robot compact and adaptable to pipe diameter change from 205mm to 305mm. We also analyzed steering locomotion of the robot and propose a simple strategy for navigating in a T-branch pipe. The mechanisms and strategy are demonstrated by experiment.

Original languageEnglish
Title of host publication2011 IEEE/SICE International Symposium on System Integration, SII 2011
Pages479-484
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE/SICE International Symposium on System Integration, SII 2011 - Kyoto, Japan
Duration: 2011 Dec 202011 Dec 22

Publication series

Name2011 IEEE/SICE International Symposium on System Integration, SII 2011

Other

Other2011 IEEE/SICE International Symposium on System Integration, SII 2011
CountryJapan
CityKyoto
Period11/12/2011/12/22

All Science Journal Classification (ASJC) codes

  • Computer Networks and Communications
  • Control and Systems Engineering

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  • Cite this

    Jeon, W., Park, J., Kim, I., Kang, Y. K., & Yang, H. (2011). Development of high mobility in-pipe inspection robot. In 2011 IEEE/SICE International Symposium on System Integration, SII 2011 (pp. 479-484). [6147496] (2011 IEEE/SICE International Symposium on System Integration, SII 2011). https://doi.org/10.1109/SII.2011.6147496