Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Design of a New Flexible In-pipe Inspection Robot

새로운 구조의 유연한 배관탐사 로봇 설계

  • 최형식 (한국해양대학교 기계정보 공학부) ;
  • 김동호 (한국해양대학교 기계정보공학부) ;
  • 김동현 (한국해양대학교 기계정보공학부) ;
  • 이종훈 (한국해양대학교 기계정보공학부) ;
  • 황광일 (한국해양대학교 기계정보공학부)
  • Published : 2008.01.31
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Abstract

In this paper, a new in-pipe inspection robot was developed for inspecting a large number of circular pipe insides of the sea plant, ships, and buildings. A new pressure generation system was devised to inspect circular pipes with different diameters and to move up and down slant or perpendicular slopes inside of the pipe. Also, a design method was analyzed to decide the capacity of driving motor for the robot if the mass and maximum velocity of the robot are identified. According to the design specification, a robot was developed and was tested to verify the performance of the pressure generation system. For tests, a control system was developed.

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References

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