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ID 33043
FullText URL
Author
Wakimoto, Shuichi
Nakajima, Jun
Tanaka, Masanori
Abstract

The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "snaking drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18 mm to 100 mm with the maximum speed of 36 mm/s. And the robot could negotiate T-branches and L-bends of pipes.

Keywords
control engineering computing
industrial robots
inspection
microrobots
mobile robots
robot vision
stability
Note
Published with permission from the copyright holder. This is the institute's copy, as published in Micromechatronics and Human Science, 2003. MHS 2003. Proceedings of 2003 International Symposium on, 19-22 Oct. 2003, Pages 303-308.
Publisher URL:http://ieeexplore.ieee.org/search/wrapper.jsp?arnumber=1249959
Copyright © 2003 IEEE. All rights reserved.
Published Date
2003-10
Publication Title
Micromechatronics and Human Science
Start Page
303
End Page
308
Content Type
Journal Article
language
英語
Refereed
True
Submission Path
mechanical_engineering/23