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http://dx.doi.org/10.5916/jkosme.2008.32.1.175

Design of a New Flexible In-pipe Inspection Robot  

Choi, Hyeung-Sik (한국해양대학교 기계정보 공학부)
Kim, Dong-Ho (한국해양대학교 기계정보공학부)
Kim, Dong-Hyun (한국해양대학교 기계정보공학부)
Lee, Jong-Hoon (한국해양대학교 기계정보공학부)
Whang, Kwang-Il (한국해양대학교 기계정보공학부)
Publication Information
Journal of Advanced Marine Engineering and Technology / v.32, no.1, 2008 , pp. 175-183 More about this Journal
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.
Keywords
In-pipe inspection robot; Motor control system; Pressure generation system;
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