DOI QR코드

DOI QR Code

Theoretical Velocity Analysis of Micro Robot Based on Crawling Locomotive Mechanism for Pipe Inspection Micro Robot

Crawling 방식을 이용한 관 탐사용 소형 로봇의 이동속도 해석

  • 장기현 (한국항공대학교, 항공우주 및 기계공학과) ;
  • 박현준 (한국항공대학교, 항공우주 및 기계공학과) ;
  • 김병규 (한국항공대학교, 항공우주 및 기계공학과)
  • Published : 2008.08.01

Abstract

Recently, the necessity for diagnosis and management of pipes has emerged as the issue due to contamination of water supply generated by corrosion of pipes. Although inspection has been performed with industrial endoscopes, the method has limits for full diagnosis of pipes due to the lack of working range. As a solution for this problem, many locomotive mechanisms for a micro robot with endoscope functions were proposed. In this paper, we analyze the locomotive mechanism of crawling robot proposed as locomotive device for pipe inspection. Based on a mechanical modeling of motor and micro robot inside small pipe, the theoretical formula for velocity is obtained. This derived theoretical formula is demonstrated the feasibility through the comparison with experimental result. Also, we could find the most important element influencing the moving velocity of micro robot when the robot operates in small pipe. Consequently, it is expected that this study can supply useful information to design of crawling robot to move in small pipe.

Keywords

Crawling Robot;Lead Screw;Micro Robot;Pipe Inspection

References

  1. Shigeo Hirose, Hidetaka Ohno, Takeo Mitsui, Kijhi Suyama, 1999, “Design of In-pipe Inspection Vehicles for ${\o}25, {\o}50, {\o}150$ pipes,” Proceedings of the 1999 IEEE International Conference on Robotics&utomation, pp. 2309-2314
  2. Sukho Park, Hyunjun Park, Sungjin Park, Changyeol Jee, Jinseok Kim and Byungkyu Kim, 2006, “Capsular Locomotive Microrobot for Gastrointestinal Track,” In Proceedings of the 28th IEEE EMBS Annual International Conference, pp. 2211-2214
  3. Young Pyo Lee, Byungkyu Kim, Moon Gu Lee and Jong-Oh Park, 2004, “Locomotive Mechanism Design and Fabrication of Biomimetic Micro Robot Using Shape Memory Alloy,” in Proceeding of the 2004 IEEE International Conference on Robotics & Automation, pp.5007-5012
  4. Byungkyu Kim, Sunghak Lee, Jong Hyeon Park and Jong-Oh Park, 2004, “Inchworm-Like Microrobot for Capsule Endoscope,” in Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics, pp. 458-463
  5. Se-gon Roh, Hyouk Ryeol Choi, 2005, “Differential-Drive In-Pipe Robot for Moving Inside Urban Gas Pipelines,” in IEEE TRANSATIONS ON ROBOTICS, VOL. 21, NO. 1 FEBRUARY 2005, pp. 1-17 https://doi.org/10.1109/TRO.2004.838000
  6. Joseph E. Shigley, Charles R. Mischke and Richard G. Budynas, 2005, “Mechanical Engineering Design, $7^{th}$ Edition,” McGraw-Hill, New York, pp. 552-590
  7. Michael B. Histand , David G. Alciatore, 1999, “Introduction to Mechatronics and Measurement Systems,” McGraw-Hill , Boston, pp. 362-369
  8. William F. Riley and Leory D. Sturges, 1996, “Engineering Mechanics: DYNAMICS, Second Edition,” WILLEY, New York, pp. 245-324
  9. Hyungjun Lim, Hyunjin Min, Byungkyu Kim, Soohyun Kim, 2002, “Flexible Loop Wheel Mechanism for Intestine Movement,” KSME Int. J., Vol. 26, No. 2, pp. 314-321 https://doi.org/10.3795/KSME-A.2002.26.2.314

Cited by

  1. Design and analysis of cleaning mechanism for an intermittent screw-driven pipeline robot vol.31, pp.2, 2017, https://doi.org/10.1007/s12206-017-0144-y