無センサー受動磁石と全方向トラックを備えた管内検査ロボットの設計と実装
An In-Pipe Inspection Robot With Sensorless Underactuated Magnets and Omnidirectional Tracks: Design and Implementation
管内の複雑な配管網を走行するため、センサーなしで受動的に磁力を調整し、全方向トラックの速度を機械的に配分する伝達機構を備えた管内検査ロボットを設計・実装した。
著者: Gaurav Saha, K. M. Santosh, Anugu Reddy, Ravi Kant, Arjun Kumar
分類: cs.RO
原文アブストラクト
This paper presents the plan of an in-pipe climbing robot that works utilizing an astute transmission part to investigate complex relationship of lines. Standard wheeled/proceeded in-pipe climbing robots are inclined to slip and take while investigating in pipe turns. The instrument helps in accomplishing the main inevitable result of getting out slip and drag in the robot tracks during advancement. The proposed transmission appreciates the practical furthest reaches of the standard two-yield transmission, which is developed the basic time for a transmission with three results. The instrument conclusively changes the track speeds of the robot considering the powers applied on each track inside the line relationship, by getting out the essential for any remarkable control. The amusement of the robot crossing in the line network in various orientation and in pipe-turns without slip shows the proposed game plan's adequacy.
