Development of an inspection robot for small diameter gas distribution mains

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    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 languageUndefined
    Title of host publicationIEEE International Conference on Robotics and Automation, ICRA 2011
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5044-5049
    Number of pages6
    ISBN (Print)978-1-61284-386-5
    DOIs
    Publication statusPublished - 15 Aug 2011
    Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
    Duration: 9 May 201113 May 2011

    Publication series

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

    Conference

    Conference2011 IEEE International Conference on Robotics and Automation, ICRA 2011
    Abbreviated titleICRA
    CountryChina
    CityShanghai
    Period9/05/1113/05/11

    Keywords

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

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