Underactuated in-Pipe Robot for Moving inside Underground Oil Pipelines

Abstract:

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Composed of tri-axis differential mechanism and adjustable flexible pipe-diameter adaptability mechanism, an underactuated wheeled in-pipe robot is developed to avoid the motion interference during moving in elbow. The experiment system is established to evaluate the robotic differential performance. The experimental results show that the proposed robot has several advantages such as reliable differential performance and pipe-diameter adaptability, and hence verify that the present underactuated method is an effective way how to prevent a wheeled in-pipe robot from motion interference.

Info:

Periodical:

Advanced Materials Research (Volumes 328-330)

Edited by:

Liangchi Zhang, Chunliang Zhang and Zichen Chen

Pages:

2278-2283

DOI:

10.4028/www.scientific.net/AMR.328-330.2278

Citation:

X. D. Jiang et al., "Underactuated in-Pipe Robot for Moving inside Underground Oil Pipelines", Advanced Materials Research, Vols. 328-330, pp. 2278-2283, 2011

Online since:

September 2011

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Price:

$35.00

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