Up to now a wide variety of researches on in-pipe inspection robots have been introduced, but it still seems to be difficult to construct a robot providing mobility sufficient to navigate inside the complicated configurations of underground pipelines. A robot called MRIN-SPECT IV is presented for the inspection of urban gas pipelines with a nominal 4-inch inside diameter. The proposed robot can freely move along the basic configurations of pipelines such as horizontal or vertical pipelines. Moreover it can travel along reducers, elbows, and steer in the branches by modulating the speeds of driving modules. Especially, its capability for steering in the three-dimensional pipeline configuration has a competitive edge over the other ones and provides outstanding mobility in navigation. Its critical points in the design and construction are introduced and preliminary results of experiments are given.
Development for differentially driven inpipe inspection robot for underground gas pipelines
Entwicklung eines mobilen, radangetriebenen Roboters für die Inspektion von unterirdischen Gasleitungen
2001
6 Seiten, 17 Bilder, 10 Quellen
Aufsatz (Konferenz)
Datenträger
Englisch
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