The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2008
Session ID : 2P1-C13
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2P1-C13 Pipe inspection robot adaptive to pipe diameter : 10th report: Automatic adjustability to diameter and curve of pipe
Akina KUWADAKoichi SUZUMORIYudai ADOMIShuichi WAKIMOTO
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
In this paper, the purpose is to realize self-propelling ability of a snake like robot which travels in pipes. The robot consists of thirteen intelligent actuators and each actuator has a DC motor and a micro processor including a motor driver and communication function. Three control algorithms, force control, adjusting controls to changing pipe diameter and to curved pipe are proposed and programmed in the processors. As the experimental results, automatically the robot can negotiate several kinds of pipes such as different diameter, elbow shape, T branch shape and vertical setting without overloaded. We showed the utility of three algorithms.
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© 2008 The Japan Society of Mechanical Engineers
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