Paper Info
Title
Design and implementation of an optimal in-pipe navigation mechanism for a steel pipe cleaning robot
Abstract
This study focuses on the design and implementation of an optimal pipe navigation mechanism and a driving unit to overcome the variable situations inside steel pipes. It also offers adaptability to different pipe diameters. The important problems considered in the design and implementation are a self-sustaining property when in the center of a pipe, optimal navigation ability to adapt to in-pipe unevenness, the capability to remain stable without slipping in pipes, and the efficient operation of cleaning equipment. The robot developed here based, on carefully determined design specifications, was tested to verify the performance of its navigation mechanism and driving ability. In addition, a control system was developed for the test. The ultimate goal is the application of the verified in-pipe cleaning robot to industrial and practical applications.
Year
DOI
Venue
2011
10.1109/URAI.2011.6146010
URAI
Keywords
Field
DocType
in-pipe navigation mechanism,adaptability,optimal control,pipes,tracked driving module,in-pipe robot,optimal in-pipe navigation mechanism,driving ability,mobile robots,steel pipe cleaning robot,industrial robots,cleaning equipment,maintenance engineering,in-pipe unevenness,self sustaining property,control system
Slipping,Adaptability,Optimal control,Control engineering,Engineering,Control system,Robot,Maintenance engineering,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4577-0722-3
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Yoongu Kim1139644.25
Donghwan Shin2203.15
Jeon-Il Moon3112.23
Jinung An411520.43