TY - GEN
T1 - Design and implementation of an optimal in-pipe navigation mechanism for a steel pipe cleaning robot
AU - Kim, Yoon Gu
AU - Shin, Dong Hwan
AU - Moon, Jeon Il
AU - An, Jinung
PY - 2011
Y1 - 2011
N2 - This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.
AB - This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.
KW - Adaptability
KW - In-pipe Navigation Mechanism
KW - In-pipe Robot
KW - Tracked Driving Module
UR - http://www.scopus.com/inward/record.url?scp=84863152339&partnerID=8YFLogxK
U2 - 10.1109/URAI.2011.6146010
DO - 10.1109/URAI.2011.6146010
M3 - Conference contribution
AN - SCOPUS:84863152339
SN - 9781457707223
T3 - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
SP - 772
EP - 773
BT - URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
T2 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Y2 - 23 November 2011 through 26 November 2011
ER -