Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task

Mihai Olimpiu Tătar; Ioan Ardelean; Dan Mândru

doi:10.4028/www.scientific.net/AMM.762.163

Paper Titles

Kinematic Modelling of a New 5-DOF (Axis) Parallel Robot Used in Brachytherapy
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Performance Analysis of Two Robots one Serial 4R and one Parallel 3T
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Adaptation to Rough Terrains by Using Force Sensing on the MERO Modular Walking Robots
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Virtual Planning of Needle Trajectories Using a Haptic Interface for a Brachytherapy Parallel Robot: An Evaluation Study
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Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task
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Development of a Smart Sensor System with Application to In-Pipe Inspection Robots
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Differential Formulation for the Coefficient of Restitution of a Rigid Link
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Autonomous Robot for Mining Exploration: A Structomatical and Kinematical Model for Uneven Ground
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Natural Interaction with an Assistive Humanoid Robot
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 762Adaptable Robots Based on Linkage Type Mechanisms...

Adaptable Robots Based on Linkage Type Mechanisms for Pipeline Inspection Task

Abstract:

Inspection and exploration represent a challenging domain in the field of robotics because of the hazardous and limited workspace to which the robots have to adapt and because of the reduced ability to monitor and acquire data about the inspected environment. A pipeline inspection robot must ensure sufficient traction force to pull its tether cable and other equipment while travelling inside a pipeline to complete inspection, maintenance, and repair tasks. This paper presents the design of three minirobots with adaptable structure for in pipe inspection and the experimental determination of their traction force. To measure the traction force of the minirobots, the Xplorer GLX digital measuring device was used.

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Periodical:

Applied Mechanics and Materials (Volume 762)

Pages:

163-168

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.762.163

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Online since:

May 2015

Authors:

Mihai Olimpiu Tătar*, Ioan Ardelean, Dan Mândru

Keywords:

Adaptable Structure, Design, In Pipe Robots, Mechanism, Traction Force

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References

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