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http://dx.doi.org/10.3795/KSME-A.2002.26.12.2598

Locomotion Mechanism Using a Combination Cam with Multi-Phases  

Kim, Kyung-Dae (한국과학기술연구원(KIST) 마이크로시스템연구센터)
Jeong, Youn-Koo (한국과학기술연구원(KIST) 마이크로시스템연구센터)
Kim, Byung-Kyu (한국과학기술연구원)
Park, Jong-Oh (지능형 마이크로시스템 개발 사업단(IMC))
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.26, no.12, 2002 , pp. 2598-2604 More about this Journal
Abstract
Robots that can move along the narrow and rough tube are very important as the request for the inspection increases. It is necessary for the inspection robots to have a capability to move successfully at even overturned situation and have a simple mechanism to reduce the unexpected failure possibility fer the successful completion of the given mission. Through this paper, the authors propose a novel and simple mechanism using a combination cam device to generate the locomotive motion of multi-legs. This robot uses one DC motor and one combination cam shaft to generate the locomotive motion and can move rough tubes without failure even at the overturned situation. The robot also shows enough fragging force fer the connected line that is very important for a wired inspection robot. Kinematics analysis to design the specification of the robot will be followed and several applications show this robot's potential capabilities.
Keywords
Combination Cam; Inspection Robot; Locomotion; Multi-Legs;
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