Paper Title:
Design and Research on the Mechanical Adaptive In-Pipe Robot Drive Unit
  Abstract

A novel differential in-pipe robot, called mechanical adaptive in-pipe robot is presented. The drive unit of the robot consists of driving module characterized by tri-axis differential velocity mechanism, and elastic leg-wheeled in-pipe adaptability module characterized by fully active drive. The drive module, as a result of its automatically modulating every moving wheel rotation speed according to topological constraint by in-pipe, avoids parasite power as a result of moving wheel slippage. The elastic leg-wheeled in-pipe adaptability module is adjustable to inner diameter variation by its radial protraction and shrinkage, and its fully active structure ensures enough tractive force even if several moving wheels impended. Therefore the mechanical adaptive in-pipe robot provides a novel insight to differential-typed in-pipe robots with the mechanical adaptive performance, and is supplementary with its novel configuration and transmission principle.

  Info
Periodical
Edited by
Kai Cheng, Yongxian Liu, Xipeng Xu and Hualong Xie
Pages
965-970
DOI
10.4028/www.scientific.net/AMM.16-19.965
Citation
S. Y. Jiang, X. D. Jiang, X. W. Zhang, J. Y. Li, "Design and Research on the Mechanical Adaptive In-Pipe Robot Drive Unit", Applied Mechanics and Materials, Vols. 16-19, pp. 965-970, 2009
Online since
October 2009
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Yung Hsiang Chen, Tzuu Hseng S. Li, Yung Yue Chen
Chapter 7: Sensors, Mechatronics and Robotics
Abstract:An adaptive nonlinear trajectory tracking design for mobile robot and its practical implementation are presented in this paper. The design...
1744
Authors: Li Qiang Jin, Ze Wei Wang, Dong Xu Yin
Chapter 3: General Mechanical Engineering, Applied Mechanics and Manufacturing, Equipment
Abstract:This article reflects the influence on the limited slip differential (LSD) for the rear drive vehicle handling and stability through the...
730
Authors: Zoran Pandilov, Vladimir Dukovski
Chapter 3: Manufacturing Systems and Tools
Abstract:In this paper a model of the feed drive system with disturbance force for High Speed Cutting (HSC) linear motor machine is given. The dynamic...
218