Abstract
In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Mechanism (AQAM) and the Swivel Hand Mechanism (SHM). The AQAM allows the robot to travel in reduced branch pipes and branch pipes with zero-radius of curvature, which are both common in real life but which pose a challenge to the previously developed in-pipe robots. The SHM enables the robot to change its orientation, and in particular, allows it to bypass bumps. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype was able to travel successfully through elbow and vertical pipes with a diameter of 305 mm and zero-radius of curvature reduced branch pipes of at least 305 mm × 259 mm to 305 mm × 290 mm or smaller.
| Original language | English |
|---|---|
| Pages (from-to) | 52-68 |
| Number of pages | 17 |
| Journal | Mechanism and Machine Theory |
| Volume | 56 |
| DOIs | |
| Publication status | Published - 2012 Oct 1 |
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All Science Journal Classification (ASJC) codes
- Bioengineering
- Mechanics of Materials
- Mechanical Engineering
- Computer Science Applications
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Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types. / Lee, Dongwoo; Park, Jungwan; Hyun, Dongjun; Yook, Gyunghwan; Yang, Hyun Seok.
In: Mechanism and Machine Theory, Vol. 56, 01.10.2012, p. 52-68.Research output: Contribution to journal › Article
TY - JOUR
T1 - Novel mechanisms and simple locomotion strategies for an in-pipe robot that can inspect various pipe types
AU - Lee, Dongwoo
AU - Park, Jungwan
AU - Hyun, Dongjun
AU - Yook, Gyunghwan
AU - Yang, Hyun Seok
PY - 2012/10/1
Y1 - 2012/10/1
N2 - In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Mechanism (AQAM) and the Swivel Hand Mechanism (SHM). The AQAM allows the robot to travel in reduced branch pipes and branch pipes with zero-radius of curvature, which are both common in real life but which pose a challenge to the previously developed in-pipe robots. The SHM enables the robot to change its orientation, and in particular, allows it to bypass bumps. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype was able to travel successfully through elbow and vertical pipes with a diameter of 305 mm and zero-radius of curvature reduced branch pipes of at least 305 mm × 259 mm to 305 mm × 290 mm or smaller.
AB - In this paper, we present a new design and simple locomotion strategies for a pipe inspection robot that can travel through various pipe configurations including vertical, elbow, and branch pipes. Two specific mechanisms in the robot are important for successful locomotion: the Adaptable Quad Arm Mechanism (AQAM) and the Swivel Hand Mechanism (SHM). The AQAM allows the robot to travel in reduced branch pipes and branch pipes with zero-radius of curvature, which are both common in real life but which pose a challenge to the previously developed in-pipe robots. The SHM enables the robot to change its orientation, and in particular, allows it to bypass bumps. Modeling and simulations were conducted to test the validity and practicality of the proposed design and strategies. The prototype was able to travel successfully through elbow and vertical pipes with a diameter of 305 mm and zero-radius of curvature reduced branch pipes of at least 305 mm × 259 mm to 305 mm × 290 mm or smaller.
UR - http://www.scopus.com/inward/record.url?scp=84863671728&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84863671728&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2012.05.004
DO - 10.1016/j.mechmachtheory.2012.05.004
M3 - Article
AN - SCOPUS:84863671728
VL - 56
SP - 52
EP - 68
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
SN - 0374-1052
ER -