采用螺旋驱动轮的管道检测用微机器人
채용라선구동륜적관도검측용미궤기인
A Pipeline Inspection Micro Robot Based on Screw Motion Wheels
  • 万方数据
    上海大学学报(英文版) 상해대학학보(영문판)
    JOURNAL OF SHANGHAL UNIVERSITY
    2000年 3期 235-238 ,共4页

    钱晋武%章亚男%孙麟治%秦新捷%沈耀宗%QIAN Jin-wu%ZHANG Ya-nan%SUN Lin-zhi%QIN Xin-jie%SHEN Yao-zong

    전진무%장아남%손린치%진신첩%침요종%QIAN Jin-wu%ZHANG Ya-nan%SUN Lin-zhi%QIN Xin-jie%SHEN Yao-zong



    micro robot%pipe crawler%screw motion wheel%pipeline inspection


    The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small-diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I.The moving characteristics are obtained from experiments on the robot prototype.
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