ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-B13
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面外曲げ走行可能なV字型配管内検査ロボットの開発
*関谷 奏廣瀬 千大村田 憲哉小林 勇輝加古川 篤馬 書根
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There is a growing demand for in-pipe inspection robots for infrastructure maintenance. In actual pipelines, there is a pipe that two elbow pipes are continuously connected and bent three-dimensionally, called ”out-of-plane double elbow”. It is geometrically difficult for multi-link articulated wheeled robots to travel inside such a structure. In this manuscript, a two-link V-shaped in-pipe inspection robot ”AIRo-6.1” with a torque controllable active joint and two head and tail active spherical wheels is proposed. Travel performances in the out-of-plane double elbow was examined by experiments with four different starting postures. From the results, AIRo-6.1 successfully passed through those pipes.

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