TY - GEN
T1 - A micro snake-like robot for small pipe inspection
AU - Wakimoto, Shuichi
AU - Nakajima, Jun
AU - Takata, Masanori
AU - Kanda, Takefumi
AU - Suzumori, Koichi
N1 - Publisher Copyright:
© 2003 IEEE.
PY - 2003
Y1 - 2003
N2 - The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "Snaking Drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18mm to 100mm with the maximum speed of 36mm/s. And the robot could negotiate T-branches and L-bends of pipes.
AB - The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on "Snaking Drive". First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18mm to 100mm with the maximum speed of 36mm/s. And the robot could negotiate T-branches and L-bends of pipes.
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U2 - 10.1109/MHS.2003.1249959
DO - 10.1109/MHS.2003.1249959
M3 - Conference contribution
AN - SCOPUS:84945121075
T3 - MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
SP - 303
EP - 308
BT - MHS 2003 - Proceedings of 2003 International Symposium on Micromechatronics and Human Science
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Symposium on Micromechatronics and Human Science, MHS 2003
Y2 - 19 October 2003 through 22 October 2003
ER -