• Title, Summary, Keyword: 관내 주행 로봇

Search Result 7, Processing Time 0.024 seconds

Development of a pipeline robot like foxtail (강아지풀 형상을 닮은 관내 주행로봇 개발)

  • Choi, Yong-Ho;Yang, Hyun-Suk;Park, No-Chul
    • Proceedings of the KSME Conference
    • /
    • /
    • pp.1167-1172
    • /
    • 2007
  • Generally inpipe robot needs force above standing for contacting robot to pipe. If the environment of the pipe-inside does not change, there is not a problem. But if the pipe radius change, or occur the obstacle which it does not intend, problem gets. So it uses a different system and must know an environment change, and changing the shape or a form of the robot. The research uses the flexible leg and is the robot which is adapted to the environment change of the pipe. The advantage of this robot is possible to move when it does not need to recognize a change of environment of pipe. Leg is bend with one direction. When it moves part that there are legs effect of leg direction the robot is moved with only one direction. If friction between legs and pipe is sufficient, not only verticality pipe moving, but also curved pipe moving. Also the obstacle of the pipe inside occurs and the diameter of the pipe inside changes, this robot can move if it does not use another system or device.

  • PDF

Design of Mobile Adaptation/Sensing Robot for Vertical Passage in Narrow Space (협소구역 수직 주행을 위한 지형 적응/인지 이동 로봇의 설계)

  • Kim, Tae-Hyun;Yang, Hyun-Seok;Park, No-Cheol
    • Proceedings of the KSME Conference
    • /
    • /
    • pp.1173-1178
    • /
    • 2007
  • The robot for narrow space is used in searching, investigating or cleaning. Up to now variety of researches on in-pipe robots have been introduced. However it is still hard to overcome vertical or curved passage. In most cases of narrow space robots are able to travel just aimed diameter which was selected when those are developed. Also, a large percentage of robots are not able to detect the configuration of pipe or circumstance. In this paper we present a robot called PAROYSⅡ for narrow space with vertical and curved passage. This proposed robot is not affected at all to variance of pipes, vertical or horizontal passages, curved pipes, projecting parts and parallel planes. In addition to that, it will perceive the internal configuration of pipe and terrain, which will be not only available to control navigating scheme by itself, but also mappable about the passage which the robot traveled. Core points in the design and structure are introduced and preliminary verification is given.

  • PDF

Flexible Loop Wheel Mechanism for Intestine Movement (탄성 루프형 바퀴를 이용한 장 내 이동 메커니즘)

  • Im, Hyeong-Jun;Min, Hyeon-Jin;Kim, Byeong-Gyu;Kim, Su-Hyeon
    • Transactions of the Korean Society of Mechanical Engineers A
    • /
    • v.26 no.2
    • /
    • pp.314-321
    • /
    • 2002
  • An endoscope is usually inserted into the human body for the inspection of the gullet, stomach, and large intestine (colon) and this may cause discomfort to patients and damage to tissues during diagnostic or therapeutic procedures. This situation necessitates a self-propelling endoscope. There are many kinds of mechanism to move in a rigid pipe. However, these methods are difficult to apply directly to the endoscope. The main reason is that human intestine cannot be considered as a uniform, straight, and rigid pipe. This paper proposes a flexible loop wheel mechanism, which is adaptable to the human intestine. This mechanism is designed and fabricated by a simple modeling, and tested by an experiment. Finally, the actuator is inserted into the pig colon.