TY - GEN
T1 - Design method of modular units for articulated in-pipe robot inspecting system
AU - Chen, Jun
AU - Chen, Tao
AU - Deng, Zongquan
PY - 2011
Y1 - 2011
N2 - A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes.
AB - A novel untethered autonomous motor driven in-pipe robot inspecting system has been designed in order to solve the internal defect inspection for long-distance pipeLine. Which includes motor driven traction robot and other multiple cyLindrical box modular units, the adjacent units are Linked by double hook joints and by three extended supporting wheels contacting the inner surface of pipe elastically to form the articulated multi-body system. Based on the virtual prototype technology, by means of the relations of structure and size for modular units and its connectors, to research the determine method of structure size meeting the needs of in-pipe robot inspecting system moved in elbow pipe. The method proposed this paper has been used in the design of engineering prototype, and whose structure size and mechanics performance have been proved can achieve the design indexes.
KW - abiLity of passthrough elbow pipe
KW - articulated modular units
KW - in-pipe robot
UR - https://www.scopus.com/pages/publications/80855129713
U2 - 10.1109/ICDMA.2011.102
DO - 10.1109/ICDMA.2011.102
M3 - 会议稿件
AN - SCOPUS:80855129713
SN - 9780769544557
T3 - Proceedings of the 2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011
SP - 389
EP - 392
BT - Proceedings of the 2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011
T2 - 2011 2nd International Conference on Digital Manufacturing and Automation, ICDMA 2011
Y2 - 5 August 2011 through 7 August 2011
ER -