Abstract
This paper describes three-wheeled vehicles for monitoring internal piping. The vehicle is basically composed of two-hinged arms called scissors structure by authors. Each end of the arms is joined with links crossing together at their middle points. The wheel located at the fulcrum of the scissors structure is driven by DC motor and the other wheels located at the ends of the links are sphere bearings.
Relations between the stretch force and the configuration of the vehicle are analyzed to optimize the length of the lever and the direction in which the lever should be attached for force generation. To obtain the condition in which the vehicle can move stably, authors investigated the shape of the pipe and friction exerted on the vehicle. Results of the simulation of locomotion in the two dimensional area proved the self-adjustability of the vehicle to various shapes and sizes of pipe. Simplified vehicle, MOGRER, is fabricated to carry a CCD video camera in his body for monitoring internal piping. Experimental results show the MOGRER can monitor while locomoting in inclined pipes with a deep angle without the influence of the gravity and the change of the pipe's size and shape.
