Development of an inspection robot for small diameter gas distribution mains

Edwin Christian Dertien; Stefano Stramigioli; Kees Pulles

doi:10.1109/ICRA.2011.5980077

Development of an inspection robot for small diameter gas distribution mains

Edwin Christian Dertien, Stefano Stramigioli, Kees Pulles

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

68 Citations (Scopus)

50 Downloads (Pure)

Abstract

This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.

Original language	Undefined
Title of host publication	IEEE International Conference on Robotics and Automation, ICRA 2011
Place of Publication	USA
Publisher	IEEE
Pages	5044-5049
Number of pages	6
ISBN (Print)	978-1-61284-386-5
DOIs	https://doi.org/10.1109/ICRA.2011.5980077
Publication status	Published - 15 Aug 2011
Event	2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China Duration: 9 May 2011 → 13 May 2011

Publication series

Name
Publisher	IEEE Robotics and Automation Society
ISSN (Print)	1050-4729

Conference

Conference	2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Abbreviated title	ICRA
Country/Territory	China
City	Shanghai
Period	9/05/11 → 13/05/11

Keywords

METIS-278853
IR-78222
Pipe inspection
Robot
EWI-20644
service robotics
modular design
CE-Advanced Robotics
series elastic drive

Access to Document

10.1109/ICRA.2011.5980077

http://eprints.eemcs.utwente.nl/secure2/20644/01/05980077.pdf

Cite this

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title = "Development of an inspection robot for small diameter gas distribution mains",

abstract = "This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.",

keywords = "METIS-278853, IR-78222, Pipe inspection, Robot, EWI-20644, service robotics, modular design, CE-Advanced Robotics, series elastic drive",

author = "Dertien, {Edwin Christian} and Stefano Stramigioli and Kees Pulles",

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doi = "10.1109/ICRA.2011.5980077",

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AB - This paper discusses the design of a mechanical structure of a miniature pipe inspection robot capable of moving through very small pipes (down to 41 mm inner diameter). The requirement to negotiate bends, T-joints and steep inclinations pose another set of strict design constraints. The proposed robot consists of a modular design (7 modules) with a relatively low number of active degrees of freedom. The system is using a novel clamping mechanism with a series-elastic drive. The design of this mechanism has resulted in a high spreading factor allowing the system to operate in a wide diameter range (63 mm to 125 mm outer diameter). In this paper the mechanical design requirements and control system will be discussed. Preliminary test results will be given.

KW - METIS-278853

KW - IR-78222

KW - Pipe inspection

KW - Robot

KW - EWI-20644

KW - service robotics

KW - modular design

KW - CE-Advanced Robotics

KW - series elastic drive

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