Mechanical carrier of a mobile robot for inspecting ventilation ducts

Abstract

The focus of this paper is on design and development of a miniaturized mechanical carrier of a mobile robot for inspecting ventilation ducts. Work environment of this robot are ducts made of steel sheet. To enable this robot to easy move in this environment several problems have to be considered and then solved. The authors considered several conceptions. They chose two of them for further research. One of them was a four-leg walking platform. The other was a wheeled platform. 3D CAD systems were used for simulation of kinematics and dynamic behavior. They chose wheeled platform and then developed a real model of this platform. The platform is equipped with four magnetic wheels. Every wheel is independently driven by a step motor. The platform and all elements of the mechanical carrier are made from aluminum alloys. This platform can move on floor, walls and ceilings of round and square ventilation ducts using magnetic forces.

Scientific work financed by the Ministry of Science and Higher Education and carried out within the Multi-Year Programme “Development of innovativeness systems of manufacturing and maintenance 2004–2008”