Publication

Hanyang University HumanRobotics Lab

International Conference
A Pipeline Inspection Robot with a Linkage Type Mechanical Clutch
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems
Author
Y.-S. Kwon, B. Lee, I. C. Whang, and B.-J. Yi
Year
2010
Date
2010.10.18
File
A Pipeline Inspection Robot with a Linkage Type Mechanical Clutch.pdf (1.3M) 2회 다운로드 DATE : 2020-10-19 22:50:44
Abstract: This paper presents a new pipeline inspection robot with a linkage type mechanical clutch, which is designed for inspection of pipelines with 100mm diameter. This robot has three powered wheel chains each of which has a mechanical clutch. The mechanical clutch is designed by using a parallel linkage mechanism. The kinematic model of the pipeline inspection robot is driven and its proto type has been developed. The performance of this robot system is verified by both simulation and experimentation.