Underactuated in-Pipe Robot for Moving inside Underground Oil Pipelines

Xu Dong Jiang; Sheng Yuan Jiang; Zhi Yong Hu; Ying Hua Gao

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

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 328-330Underactuated in-Pipe Robot for Moving inside...

Underactuated in-Pipe Robot for Moving inside Underground Oil Pipelines

Abstract:

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.

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Periodical:

Advanced Materials Research (Volumes 328-330)

Pages:

2278-2283

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.328-330.2278

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Online since:

September 2011

Authors:

Xu Dong Jiang, Sheng Yuan Jiang, Zhi Yong Hu, Ying Hua Gao

Keywords:

Differential Performance, Experiment System, In-Pipe Robot, Underactuated Method

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