| 题名: | Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection |
| 作者: | Li P(李鹏); Ma SG(马书根) ; Li B(李斌); Wang YC(王越超)
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| 作者部门: | 机器人学研究室
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| 会议名称: | IEEE International Conference on Robotics and Automation
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| 会议日期: | May 19-23, 2008
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| 会议地点: | Pasadena, CA
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| 会议主办者: | IEEE
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| 会议录: | 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9
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| 会议录出版者: | IEEE
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| 会议录出版地: | NEW YORK
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| 出版日期: | 2008
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| 页码: | 3992-3997
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| 收录类别: | EI
; CPCI（ISTP）
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| EI收录号: | 20083811569882
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| WOS记录号: | WOS:000258095002202
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| 产权排序: | 1
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| ISSN号: | 1050-4729
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| ISBN号: | 978-1-4244-1646-2
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| 摘要: | In this paper, a mobile mechanism with driving capability and detecting function is proposed for in-pipe inspection task. Based on this mechanism, a robot is designed and fabricated. The advantage of this robot is that it has mobile ability in the pipe and detecting function for inspection, while only one DC motor is installed. This results in low energy consumption and low cost to make. The robot propels itself in the pipe under a driving mode, and it is used for finding the defect of the pipe under a detecting mode. By switching these two working modes, the robot performs the inspection task without other extra DC motors. Moreover, a velocity change mechanism is introduced to adapt the change of the payload through adjusting the incline angle of the roller. The characteristics of this mechanism are analyzed by comparison with a classical screw drive robot and a direct drive robot. Finally, basic experiments are conducted to testify the mobility and efficiency of this robot. |
| 语种: | 英语
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| Citation statistics: |
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/8641
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| Appears in Collections: | 机器人学研究室_会议论文
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| HYQW000447.pdf（1397KB） | 会议论文 | -- | 开放获取 | | View
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作者单位: | 1.IEEE
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Graduate School of the Chinese Academy of Sciences, Beijing 100039, China
4.Organization for Promotion of the COE Program, Ritsumeikan University, Shiga-ken 525-8577, Japan
5.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
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| Recommended Citation: | |
Li P,Ma SG,Li B,et al. Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection[C]. IEEE International Conference on Robotics and Automation. Pasadena, CA. May 19-23, 2008.Design of a mobile mechanism possessing driving ability and detecting function for in-pipe inspection.
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