Advertisement

Journal of Shanghai University (English Edition)

, Volume 4, Issue 3, pp 235–238 | Cite as

A pipeline inspection micro robot based on screw motion wheels

  • Qian Jin-wu 
  • Zhang Ya-nan 
  • Sun Lin-zhi 
  • Qin Xin-jie 
  • Shen Yao-zong 
Electromechanical Engineering And Automation

Abstract

The micro robot based on screw motion wheels, which features high payload/mass ratio, fast and continuous motion, adaptation to pipe diameter or roundness variations, is suitable for locomotion and inspection inside small-diameter pipelines. The robot inspection system, Tubot I, developed at Shanghai University is composed of locomotion mechanism with an inner motor, a micro CCD camera and a monitor outside the pipeline. In the paper, the kinematics and statics analyses are presented for the screw locomotion system of Tubot I. The moving characteristics are obtained from experiments on the robot prototype.

Key words

micro robot pipe crawler screw motion wheel pipeline inspection 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    Visual Inspection Technologies Inc, http://delta.brtinc.com/scripts/vit/proddetail.asp?itemnum=6,1997Google Scholar
  2. [2]
    Yanagisawa Y., R&D issues and status of national micromachine project, Proc. of China-Japan Joint Workshop on Micromachine/MEMS, Beijing, China, Sep. 29–30, 1997: 38–41Google Scholar
  3. [3]
    Iwashina S., Hayashi I., et al., Development of in-pipe operation micro robots, Proc. 5th Int. Symp. on Micro Machine and Human Sciences, 1994: 41–45Google Scholar
  4. [4]
    Suzumori K., Koga A., et al., Integrated flexible microactuator systems, Robotica, 1996, 14(Suppl.): 493–498CrossRefGoogle Scholar
  5. [5]
    Hamasaki Y., et al., A multi-layer eddy current micro sensor for nondestructive inspection of small diameter, Journal of Precision Engineering, 1996, 62(3): 359–362 (in Japanese)Google Scholar
  6. [6]
    Golo H., et al., Development of a scanning type miniature two-dimensional image sensor, Journal of Precision Engineering, 1997, 63(2): 218–222 (in Japanese)Google Scholar
  7. [7]
    Gong Z., Tan M., et al., Some of the research and development on micro robotics and systems in China, IAPR 2nd Int. Workshop on Micro Robotics and Systems, Beijing, China, Oct. 22–23,1998: 1–13Google Scholar
  8. [8]
    Takahashi M., Hayashi I., et al., The development of an in-pipe microrobot applying the motion of an earthworm, Journal of Precision Engineering, 1995, 61(1): 90–94 (in Japanese)Google Scholar
  9. [9]
    Kurahashi T. and Kawahara N., R & D status of wireless micromachine in pipes, Proc. of the China-Japan Joint Workshop on Micromachine/MEMS, Beijing, China, Sep.29–30, 1997:71–74Google Scholar
  10. [10]
    Hayashi I, Iwatsuki N., and Morikawa K., An in-pipe operation microrobot driven based on the principle of screw, Proceedings of International Symposium on Micromechatronics and Human Science, 1997: 125–129Google Scholar
  11. [11]
    Qian J., Cheng W., Sheng L., et al., Toward the robotic inspection for small pipelines, 2000 ASME Pressure Vessels and Piping Conference, July 23–27, Seattle, Washington (to appear)Google Scholar

Copyright information

© Shanghai University 2000

Authors and Affiliations

  • Qian Jin-wu 
    • 1
  • Zhang Ya-nan 
    • 1
  • Sun Lin-zhi 
    • 1
  • Qin Xin-jie 
    • 1
  • Shen Yao-zong 
    • 1
  1. 1.School of Electromechanical Engineering and AutomationShanghai UniversityShanghaiChina

Personalised recommendations