Development of In-Pipe Robot Using Clutch-Based Selective Driving Algorithm

클러치기반의 선택적 구동방식을 이용한 배관로봇의 개발

  • 김도완 (성균관대학교 기계공학부) ;
  • 노세곤 (성균관대학교 기계공학부) ;
  • 이정섭 (성균관대학교 기계공학부) ;
  • 이수환 (성균관대학교 기계공학부) ;
  • 최혁렬 (성균관대학교 기계공학부)
  • Published : 2008.03.01


This paper introduces a robot called the MRINSPECT V (Multifunctional Robotic crawler for Inpipe in-SPECTion V) for the inspection of pipelines with a nominal 8-in inside diameter. Based on the mechanism of the previous model MRINSPECT IV, we developed a new MRINSPECT V by using the differential driving mechanism, so that just simply controlling the speed of each driving units helps the robot to travel effectively inside the pipelines. Furthermore, the robot uses clutches in transmitting driving power to wheels. This clutch mechanism enables MRINSPECT V to select the suitable driving method according to the shape of pipeline. In this paper, the critical points in design and construction of the proposed robot are described with the preliminary results to provide good mobility and increase the efficiency.


In-Pipe Robot;Clutch;Selective Driving;Differential Driving


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